Semiglobal Tracking Cooperative Control for Multiagent Systems With Input Saturation: A Multiple Saturation Levels Framework

• 成果类型: Article
• 署名作者: Wang, Bohui; Chen, Weisheng; Wang, Jingcheng; Zhang, Bin; Shi, Peng
• 署名单位: Xidian University; Shanghai Jiao Tong University; Xi'an Technological University; University of South Carolina System; University of South Carolina Columbia; University of Adelaide; Victoria University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2991695
• 发表日期: 2021
• 页码: 1215-1222
• 关键词: Multi-agent systems; switches; TOPOLOGY; Network topology; Consensus protocol; actuators; input saturation; intermittent communication; multiagent systems; semiglobal stabilization; tracking cooperative control

摘要

This article proposes a multiple saturation levels framework to investigate the semiglobal tracking cooperative control problem of multiagent systems with switching communication topologies. This problem is solving by proposing a switching parametric Lyapunov approach and constructing a three-layer nodes model with mirroring nodes to reduce the complexity of controller design in which control inputs for different layers of nodes are with different saturation levels. A metamorphic low-gain feedback consensus protocol is developed, based only on the interaction information of different nodes, to ensure that the states of the followers approach that of the leader, if the dwell time can be reasonably selected and the switching derived topologies have a directed spanning tree. Moreover, the protocol is extended to the derived topology that frequently contains a directed spanning tree. Simulations are presented to verify the effectiveness of the new design techniques.