Global consensus for discrete-time multi-agent systems with input saturation constraints
2014 (English)In: Automatica, ISSN 0005-1098, Vol. 50, no 2, 499-506 p.Article in journal (Refereed) Published
In this paper, we consider the global consensus problem for discrete-time multi-agent systems with input saturation constraints under fixed undirected topologies. We first give necessary conditions for achieving global consensus via a distributed protocol based on relative state measurements of the agent itself and its neighboring agents. We then focus on two special cases, where the agent model is either neutrally stable or a double integrator. For the neutrally stable case, any linear protocol of a particular form, which solves the consensus problem for the case without input saturation constraints, also solves the global consensus problem for the case with input saturation constraints. For the double integrator case, we show that a subset of linear protocols, which solve the consensus problem for the case without saturation constraints, also solve the global consensus problem for the case with input saturation constraints. The results are illustrated by numerical simulations.
Place, publisher, year, edition, pages
2014. Vol. 50, no 2, 499-506 p.
Global consensus, Input saturation constraints, Multi-agent systems
IdentifiersURN: urn:nbn:se:kth:diva-142984DOI: 10.1016/j.automatica.2013.11.008ISI: 000332816400017ScopusID: 2-s2.0-84893861538OAI: oai:DiVA.org:kth-142984DiVA: diva2:705177
FunderKnut and Alice Wallenberg FoundationSwedish Research Council
QC 201403142014-03-142014-03-142014-04-22Bibliographically approved