Regional Consensus Control for Multi-Agent Systems with Actuator Saturation
Yueyuan Zhang,
Yong Qin,
Jun Huang,
Lin Yang,
Tianjiang Zheng,
Qingyuan Li
Affiliations
Yueyuan Zhang
School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China
Yong Qin
School of Artificial Intelligence and Smart Manufacturing, Hechi University, Hechi 546300, China
Jun Huang
School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China
Lin Yang
School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China
Tianjiang Zheng
Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Qingyuan Li
School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China
This paper considers the regional consensus problem for multi-agent systems with actuator saturation. By utilizing the theory of convex set, a novel multiple nonlinear feedback control protocol is presented, which can effectively reduce the conservatism in dealing with saturated nonlinear input. In order to obtain a larger estimate on the domain of consensus, the composite Laplacian quadratics function is constructed to derive sufficient conditions for the consensus of multi-agent systems. In addition, an alternative convex hull representation is employed to further enlarge the above-mentioned domain of consensus. Finally, a numerical simulation case study illustrates the validity as well as the superiority of the proposed approaches.
