Consensus of multi-agent systems with both input amplitude and input rate constraints |
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| Institution: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China;2. Liren College of Yanshan University, Qinhuangdao Hebei, 066004;3. School of Communication Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, 310018, China;1. School of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, PRChina;2. Key Laboratory of Navigation, Control and Health-Management Technologies of Advanced Aerocraft, Ministry of Industry and Information Technology, Nanjing 211100, PRChina;1. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi 214122, PR China;2. Department of Electrical Engineering, Yeungnam University, 280 Daehak-Ro, Kyonsan 38541, Republic of Korea;3. College of Mathematics and Computational Sciences, Shenzhen University, Shenzhen 518060, People Republic of China |
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| Abstract: | In this paper, the consensus problem is considered for multi-agent systems with input constraint under directed graphs, including leaderless and leader-following cases. Different from existing related works, the distinct feature of this paper is that both the amplitude and rate of the agents’ input are ensured in the given ranges. For the leaderless case, the saturation control strategy is designed and employed for multi-agent systems consensus with the aid of a novel saturation function. For the leader-following case, the saturation-function-based distributed observer as well as the observer-based saturation controller are proposed to achieve consensus. Finally, simulation results show the effectiveness of the designed methods. |
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