文献类型：期刊文献

英文题名：Robust semi-global leader-following practical consensus of a group of linear systems with imperfect actuators

作者：Shi, Liangren[1];Zhao, Zhiyun[2];Lin, Zongli[3]

机构：[1]Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China;[2]East China Univ Sci & Technol, Minist Educ, Key Lab Adv Control & Optimizat Chem Proc, Shanghai 200237, Peoples R China;[3]Univ Virginia, Charles L Brown Dept Elect & Comp Engn, Charlottesville, VA 22904 USA

年份：2017

卷号：60

期号：7

外文期刊名：SCIENCE CHINA-INFORMATION SCIENCES

收录：;EI(收录号：20172303732675);WOS:【SCI-EXPANDED(收录号:WOS:000408082300001)】；

语种：英文

外文关键词：consensus; leader-following; actuator saturation; dead-zone; low-and-high gain feedback; low gain based variable structure control

摘要：This paper considers the problem of semi-global leader-following consensus of a multi-agent system whose agent dynamics are represented by linear systems. The input output characteristics of the follower agent actuators, such as those of saturation and dead-zone, are imperfect, not precisely known, and subject to the effect of disturbances. Two consensus control algorithms, of the low-and-high gain feedback type and the low gain based variable structure control type, are proposed for solving the consensus problem. It is shown that both of these control algorithms achieve semi-global leader-following practical consensus in the presence of the imperfectness of the actuators when the communication topology among the follower agents is represented by a strongly connected and detailed balanced directed graph and the leader agent is a neighbor of at least one follower agent. The theoretical results are illustrated by numerical simulation.