Semi‐global output consensus of a group of linear systems in the presence of external disturbances and actuator saturation: An output regulation approach |
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| Authors: | Zhiyun Zhao Yiguang Hong Zongli Lin |
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| Affiliation: | 1. Department of Automation, and Key Laboratory of System Control and Information Processing of the Ministry of Education, Shanghai Jiao Tong University, Shanghai, China;2. Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China;3. Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA |
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| Abstract: | This paper studies the problem of semi‐global leader‐following output consensus of a multi‐agent system. The output of each follower agent in the system, described by a same general linear system subject to external disturbances and actuator saturation, is to track the output of the leader, described by a linear system, which also generates disturbances as the exosystem does in the classical output regulation problem. Conditions on the agent dynamics are identified, under which a low‐gain feedback‐based linear state‐control algorithm is constructed for each follower agent such that the output consensus is achieved when the communication topology among the agents is a digraph containing no loop, and the leader is reachable from any follower agent. We also extend the results to the non‐identical disturbance case. In this case, conditions based on both the agent dynamics and the communication topology are identified, under which a low‐gain feedback‐based linear state‐control algorithm is constructed for each follower agent such that the leader‐following output consensus is achieved when the communication topology among the follower agents is a strongly connected and detailed balanced digraph, and the leader is a neighbor of at least one follower. In addition, under some further conditions on the agent dynamics, the control algorithm is adapted so as to achieve semi‐global leader‐following output consensus for a jointly connected undirected graph and the leader reachable from at least one follower. Copyright © 2015 John Wiley & Sons, Ltd. |
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| Keywords: | Output regulation output consensus actuator saturation multi‐agent systems low‐gain feedback external disturbance jointly connected graph |
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