文献类型：会议论文

英文题名：Semi-Global Output Consensus of Multi-Agent Systems Subject to Actuator Saturation: A Low and High Gain Approach

作者：Zhao, Zhiyun[1];Shi, Hongbo[1]

机构：[1]East China Univ Sci & Technol, Minist Educ, Key Lab Adv Control & Optimizat Chem Proc, Shanghai 200237, Peoples R China

会议论文集：38th Chinese Control Conference (CCC)

会议日期：JUL 27-30, 2019

会议地点：Guangzhou, PEOPLES R CHINA

语种：英文

外文关键词：Output consensus; low-and-high gain feedback; multi-agent systems; actuator saturation

摘要：This paper studies semi-global output consensus problem for multi-agent systems. The dynamics of each follower agent is described by a linear system subject to both actuator saturation and external disturbances. The dynamics of leader agent is also described by a linear system which generate both the tracking signal and disturbance as the exosystem dues in output regulation problem for individual system. Solvability conditions are established based on the agent dynamics and the communication topology. For the follower agents, low-and-high gain based linear state feedback control laws are constructed such that all the outputs of agents achieve output consensus when the communication topology among the follower agents is a connected undirected graph, and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.