Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents over Switching Topologies and Input Saturation

Muhammad Ahsan Razaq, Muhammad Rehan, Muhammad Tufail, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

This brief investigates the leader-based consensus of one-sided Lipschitz (OSL) multi-agents under switching graphs and input saturation. By using the local design approach and multiple Lyapunov functions (MLFs), a novel condition for the consensus in nonlinear agents is provided by accomplishing guaranteed local stability. The notion of the average dwell time (ADT) has been applied for dealing with the switching topologies, which relaxes the classical dwell time restriction for switching instances. In contrast to the classical methods, both input saturation and switching topologies, representing a complicated and more meaningful consensus control scenario, are considered for nonlinear agents. The conservatism in existing methods for OSL agents has been overcome owing to the utilization of MLFs and ADT. Simulation results for eight mobile agents are provided to show the effectiveness of our consensus protocol.

Original languageEnglish
Article number9060888
Pages (from-to)3267-3271
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume67
Issue number12
DOIs
Publication statusPublished - 2020 Dec

Keywords

  • Leader-following consensus
  • input saturation
  • multi-agents
  • one-sided Lipschitz systems
  • switching topology

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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