Regional Consensus Control for Multi-Agent Systems with Actuator Saturation

Yueyuan Zhang (), Yong Qin (), Jun Huang, Lin Yang, Tianjiang Zheng and Qingyuan Li
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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

Mathematics, 2023, vol. 11, issue 4, 1-13

Abstract: 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.

Keywords: regional consensus; multiple nonlinear feedback; composite Laplacian quadratics function; alternative convex hull representation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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