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

Muhammad Rehan; Choon Ki Ahn; Mohammed Chadli

doi:10.1109/TCSII.2019.2923721

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

Muhammad Rehan, Choon Ki Ahn, Mohammed Chadli

Research output: Contribution to journal › Article › peer-review

33 Citations (Scopus)

Abstract

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.

Original language	English
Article number	8740924
Pages (from-to)	745-749
Number of pages	5
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	67
Issue number	4
DOIs	https://doi.org/10.1109/TCSII.2019.2923721
Publication status	Published - 2020 Apr

Keywords

Consensus protocol
input saturation
multi-agents
one-sided Lipschitz nonlinearity
relative-state feedback

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/TCSII.2019.2923721

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abstract = "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.",

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AB - 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.

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

Abstract

Keywords

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