A time-varying gain method to consensus control of high-order nonlinear multi-agent systems with input saturations

Hanfeng Li and Min Li

International Journal of Systems Science, 2025, vol. 56, issue 10, 2357-2369

Abstract: This paper introduces a fresh time-varying gain method to tackle the leader–follower consensus issue of high-order nonlinear multi-agent systems while taking into account input saturations. The nonlinear characteristics of each agent are structured in a triangular pattern and are susceptible to influence from unspecified external disturbances. Within the framework of the lower triangular structure, a compensator with time-varying gain is tailored for each agent. This compensator is established by the output of the follower and its neighbouring agents. By utilising a directed communication topology, a distributed output feedback control protocol is crafted for the system at hand. This protocol ensures that consensus errors gradually converge towards a customisable bounded region. Moreover, the time-varying gain method can be extended to achieve consensus control for multi-agent systems, where each agent is characterised by an upper triangular structure. The effectiveness of the proposed distributed control protocols is shown by two simulation examples.

Date: 2025
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DOI: 10.1080/00207721.2024.2447881

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