Local Synchronization of Linear Multi-Agent Systems Subject to Input Saturation
Kiyotsugu Takaba · SICE Journal of Control Measurement and System Integration · 2015
This paper is concerned with local state synchronization of linear agents subject to input saturation over a fixed undirected communication graph. The author first derives a sufficient condition for locally achieving the synchronization via a relative state feedback control law. Based on this analysis result, the author presents a linear matrix inequality (LMI) condition for designing the synchronizing state feedback gain. The present LMI condition is scalable as long as the eigenvalues of the associated graph Laplacian are available, and is efficiently solved by an existing convex programming algorithm.