Global consensus of multiple integrator agents via saturated controls |
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Authors: | Qingling Wang Huijun Gao |
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Institution: | State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, Heilongjiang 150001, China |
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Abstract: | This paper investigates the problem of global leader-following consensus of multiple integrator agents subject to control input saturation. A weighted and saturated consensus algorithm is proposed to solve this problem. Both the case of an undirected communication topology and the case of a directed communication topology are considered. It is shown that global consensus of the multiple integrator agents can be reached under a general undirected graph or a detailed balanced directed graph provided that its generated graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results. |
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