Observer-based leader-following consensus of one-sided Lipschitz multi-agent systems over input saturation and directed graphs |
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Authors: | Muhammad Ahsan Razaq Muhammad Rehan Muntazir Hussain Shakeel Ahmed Keum-Shik Hong |
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Affiliation: | 1. Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS), Islamabad, Pakistan;2. Department of Electrical and Computer Engineering, Air University, Islamabad, Pakistan;3. Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS), Islamabad, Pakistan
Contribution: Formal analysis, Investigation, Software, Visualization;4. Institute For Future, School of Automation, Qingdao University, Qingdao, China |
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Abstract: | This paper investigates a local observer-based leader-following consensus control of one-sided Lipschitz (OSL) multi-agent systems (MASs) under input saturation. The proposed consensus control scheme has been formulated by using the OSL property, input saturation, directed graphs, estimated states, and quadratic inner-boundedness condition by attaining the regional stability. It is assumed that the graph always includes a (directed) spanning tree with respect to the leader root to develop matrix inequalities for investigating parameters of the proposed observer and consensus protocols. Further, a new observer-based consensus tracking method for MASs with saturation, concerning independent topologies for communicating outputs and estimates over the network, is explored to deal with a more perplexing and realistic situation. In contrast to the traditional methods, the proposed consensus approach considers output feedback and deals with the input saturation for a generalized class of nonlinear systems. The efficiency of the obtained results is illustrated via application to a group of five moving agents in the Cartesian coordinates. |
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Keywords: | input saturation leader-based consensus multi-agent systems observer-based consensus one-sided Lipschitz function |
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