Regional leader-following consensus of multi-agent systems with saturating actuators
Yuanlong Li, Zongli Lin · 2017
For a linear system that has a pole in the open right-half plane and is subject to actuator saturation, global asymptotically stabilization cannot be achieved. As a result, a multi-agent system containing such an actuator saturating agent can only reach regional consensus, that is, consensus can be achieved only when the initial state of each agent resides in a region of the state space. The region of all these initial states is referred to as the domain of consensus. In general, the domain of consensus cannot be exactly characterized. In this paper, we consider the problem of estimating the domain of consensus of a multi-agent system with an agent subject to actuator saturation. A set of necessary and sufficient conditions under which an ellipsoidal set can be used as an estimate of the domain of consensus are established. Based on these conditions, an LMI-based optimization problem is formulated for obtaining the largest ellipsoidal estimate of the domain of consensus. Simulation results illustrate the effectiveness of the proposed approach and show the relationship between the size of the largest ellipsoidal estimate and the communication topology of the multi-agent system.