Dynamic gain scheduling control design for linear multiagent systems subject to input saturation |
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| Institution: | 1. School of Mathematics and Statistics, Guangxi Normal University, Guilin 541004, China;2. School of Mathematical Sciences, Sunway University, Bandar Sunway 47500, Malaysia;1. Department of Electrical and Computer Eng., McGill Univ., Montreal, Canada;2. School of Mechanical Eng., Shiraz Univ., Mollasadra Ave., Shiraz, Iran;1. School of Automation, Nanjing University of Science and Technology, Nanjing, China;2. IBISC, Evry Val-dEssonne University, Universite Paris-Saclay, Evry, France;3. Industrial Center/School of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing, China;1. Shaanxi Key Laboratory of Space Solar Power Station System, School of Mechano-electronic Engineering, Xidian University, Xi’an 710071, China;2. School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China;1. Mathematical and Actuarial Sciences Department, University Tunku Abdul Rahman, Kajang, Selangor 43000, Malaysia;2. Institute for Mathematical Research, Universiti Putra Malaysia, Serdang, Selangor 43400, Malaysia;1. School of Cyber Security, Qilu University of Technology (Shandong Academy of Sciences), Jinan, China;2. Department of Information Systems and Technology, Mid Sweden University, Sundsvall, Sweden;3. University of Sydney, Sydney, Australia;4. JD Explore Academy, Beijing, China;5. School of Information Science and Technology, Dalian Maritime University, Dalian, China;1. Department of Mathematics, Harbin Institute of Technology (Weihai), Weihai 264209, PR China;2. Department of Mechanical Engineering, Harbin Institute of Technology (Weihai), Weihai 264209, PR China |
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| Abstract: | This paper considers the finite-time bipartite consensus problem governed by linear multiagent systems subject to input saturation under directed interaction topology. Due to the existence of input saturation, the dynamic performance of linear multiagent systems degrades significantly. For the improvement of the dynamic performance of systems, a dynamic gain scheduling control approach is proposed to design a dynamic Laplacian-like feedback controller, which can be obtained from the analytical solution of a parametric Lyapunov equation. Suppose that each agent is asymptotically null controllable with bounded control, and that the corresponding interaction topology of the signed directed graph with a spanning tree is structurally balanced. Then the dynamic Laplacian-like feedback control can ensure that linear multiagent systems will achieve the finite time bipartite consensus. The dynamic gain scheduling control can better improve the bipartite consensus performance of the linear multiagent systems than the static gain scheduling control. Finally, two examples are provided to show the effectiveness of the proposed control design method. |
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