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http://dx.doi.org/10.17661/jkiiect.2021.14.4.284

Duplex Control for Consensus of Multi-agent Systems with Input Saturations  

Lim, Young-Hun (Department of Convregence Electronic Engineering, Gyeongsang National University)
Publication Information
The Journal of Korea Institute of Information, Electronics, and Communication Technology / v.14, no.4, 2021 , pp. 284-291 More about this Journal
Abstract
In this paper, we study the consensus problem for multi-agent systems with input saturations. The goal of consensus is to achieve a swarming behavior of multi-agent systems by reaching the agreement through information exchange. This paper considers agents modeled by first-order dynamics with input saturations. In order to guarantee the global convergence of the agents, it is assumed that the agents are stable. Moreover, considering the disturbances, we propose the PI based duplex control method to achieve the consensus. The proposed P controller and I controller are composed of different information network. Then, we investigate the conditions of the information networks and the control gains of P, I controllers to achieve the consensus applying the Lyapunov stability theorem and the Lasalle's Invariance Principle. Finally, we conduct the simulations to validate the theoretical results.
Keywords
Consensus; Distributed control; Duplex control; Input saturation; Multi-agent system;
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