Leader–following consensus for multi‐agent systems subject to actuator saturation with switching topologies and time‐varying delays
Xiu You, Changchun Hua, Dan Peng, Xinping Guan · IET Control Theory and Applications · 2015
This study studies the leader–following consensus problem for a class of multi‐agent systems with unknown non‐linear uncertainties. It is proved that the global consensus can be achieved by distributed feedback controller subject to actuator saturation for switching topologies and time‐varying delays. Sufficient conditions in terms of linear matrix inequalities are derived to ensure that all following agents could reach consensus asymptotically with a leader, which provide the allowable upper bound of communication delay. Stability analysis is mainly based on algebraic graph theory, non‐linear analysis and Barbalat's lemma. Numerical simulations are given to demonstrate the effectiveness of the main results.