Global Leader-Following Consensus of Double-Integrator Multiagent Systems by Fully Distributed Bounded Linear Protocols

• 成果类型: Article
• 署名作者: Zhang, Kai; Zhou, Bin; Wen, Guanghui
• 署名单位: Harbin Institute of Technology; Southeast University - China
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3164990
• 发表日期: 2022
• 页码: 4846-4853
• 关键词: Protocols; Multi-agent systems; TOPOLOGY; Laplace equations; Eigenvalues and eigenfunctions; Space vehicles; observers; Bounded linear protocol; double-integrator multiagent system; fully distributed consensus control; heterogeneous inertias

摘要

This article is concerned with the global leader-following consensus problem of the input-constrained double-integrator multiagent systems. By utilizing a Lyapunov-like function consisting of a positive semidefinite term and an integral term, a class of bounded static linear protocols are proposed to ensure that the global leader-following consensus problem for homogeneous multiagent systems is solved in a fully distributed manner for all undirected communication graphs. As a further result, the global consensus problem for heterogeneous multiagent systems under directed communication graphs is also considered and two different distributed observer-based bounded linear protocols are proposed to solve such a problem also in a fully distributed manner. The most significant advantages of this article are that the system under consideration is more general, the designed protocols are linear, and the global consensus in a fully distributed manner can be guaranteed. A numerical example shows the effectiveness of the proposed approaches.