Consensus of One-Sided Lipschitz Multi-Agents Under Input Saturation

Muhammad Rehan (1) , Choon Ki Ahn (2) , Mohammed Chadli (3)

1 Department of Electrical Engineering
2 School of Electrical Engineering
3 IBISC - Informatique, BioInformatique, Systèmes Complexes

This brief investigates a new consensus control methodology for nonlinear one-sided Lipschitz (OSL) multi-agents by considering the input saturation nonlinearity for each agent. Local design approaches are followed for dealing with the constrained consensus control of nonlinear agents by using the OSL dynamics, saturation nonlinearity, and quadratic inner-boundedness property. A region of initial conditions based on the consensus error is revealed, for which the proposed control approach guarantees the consensus error's convergence to the origin. A new design condition for computation of the consensus protocol gain is developed for the leader-following consensus. Then, simulation results on synchronization of mobile OSL are provided by considering input saturation.

Mots clés: Consensus protocol; Multi-agents; Relative-state feedback; One-sided Lipschitz nonlinearity; Input saturation

Domaines: Automatique / Robotique; Système multi-agents [cs.MA]

Muhammad Rehan, Choon Ki Ahn, Mohammed Chadli. Consensus of One-Sided Lipschitz Multi-Agents Under Input Saturation. IEEE Transactions on Circuits and Systems II: Express Briefs, 2020, 67 (4), pp.745-749. ⟨10.1109/TCSII.2019.2923721⟩. ⟨hal-02874093⟩