Event-based consensus for second-order multi-agent systems with actuator saturation under fixed and Markovian switching topologies |
| |
Authors: | Jiangtao Dai Ge Guo |
| |
Institution: | 1. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, PR China;2. School of Information Science and Technology, Dalian Maritime University, Dalian 116026, PR China;3. Fundamental Science Department, North China Institute of Astronautic Engineering, Langfang 065000, PR China |
| |
Abstract: | This paper studies the event-based consensus problem of second-order multi-agent systems with actuator saturation under fixed topology and Markovian switching topologies. By a model transformation, the consensus problem is first converted into the stability problem of the error system. Using discontinuous Lyapunov functional approach, two sufficient conditions on the consensus are derived for second-order multi-agent systems with fixed topology and Markovian switching topologies, respectively. The discontinuous Lyapunov functions take full account of the characteristics of the sawtooth delay, and thus lead to a less conservative consensus criterion. It is shown that the consensus condition depends on the parameters of sampling period, Laplacian matrix, and event-triggered parameter. In addition, this paper provides an effective method to co-design both the consensus controller and the event-triggered parameter. Finally, two numerical examples are provided to illustrate the effectiveness and feasibility of the proposed algorithm. |
| |
Keywords: | Corresponding author |
本文献已被 ScienceDirect 等数据库收录! |
|