Semiglobal Robust Consensus of General Linear MASs Subject to Input Saturation and Additive Perturbations

作     者：Yang, Yucheng Su, Housheng Zeng, Zhigang Wang, Xiaoling 

作者机构：Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Educ Minist China Wuhan 430074 Peoples R China Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China 

出 版 物：《IEEE TRANSACTIONS ON CYBERNETICS》 (IEEE Trans. Cybern.)

年 卷 期：2023年第53卷第6期

页      面：3806-3817页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Natural Science Foundation of China [61991412, U1913602, 61873318] 111 Project on Computational Intelligence and Intelligent Control [B18024] Program for HUST Academic Frontier Youth Team [2018QYTD07] Natural Science Foundation of Jiangsu Province [BK20180752] 

主　　题：Protocols Output feedback Information exchange Additives Laplace equations Uncertainty Riccati equations Algebraic Riccati equation (ARE) consensus H∞ control low-gain feedback saturation 

摘      要：This article considers the robust consensus problem of the general linear multiagent system (MAS) subject to both heterogeneous additive stable disturbances and input saturation. Distributed low gain feedback-based dynamic output feedback control protocols are proposed, which do not need the controller interaction. Algebraic Riccati equation and unified $H_{infinity}$ controller design method are employed to design the output feedback control protocols. It is established that under the assumption that each agent is asymptotically null controllable with bounded controls, semiglobal robust consensus can always be reached under the proposed controller. Furthermore, the design method specialized for leader-following consensus is addressed, under the assumption that the Laplacian matrix is diagonalizable, one can design the control protocol only with the number of follower agents. Finally, several simulations are provided to show the effectiveness of our results.