Semi-global leader-following coordination of multi-agent systems with input saturation and aperiodic intermittent communications |
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| Authors: | Zhipeng Fan Housheng Su Shiming Chen Minghui Yu Jie Ma |
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| Institution: | 1. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;2. School of Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan 430074, China |
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| Abstract: | This paper addresses the semi-global leader-following coordination problem of general linear multi-agent systems, in which the control input of each agent is steered by aperiodically intermittent saturated actuator. Both the case with only one virtual leader and the case with multiple virtual leaders are discussed. By using multiple Lyapunov stability theory and applying algebraic Riccati equation-based low-gain feedback technique, sufficient conditions guaranteeing semi-global consensus tracking and semi-global containment tracking are provided. Numerical simulations finally verify the theoretical analysis. |
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| Keywords: | Corresponding author |
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