Global consensus of multi‐agent systems with intermittent directed communication in the presence of actuator saturation
Yijing Xie, Zongli Lin · International Journal of Robust and Nonlinear Control · 2020
Summary We consider the problem of global leader‐following consensus of a multi‐agent system with intermittent directed communication in the presence of actuator saturation. The dynamics of the follower agents are represented by a chain of integrators of an arbitrary length. The leader agent possesses the same internal dynamics of the follower agents. For each follower agent, a bounded consensus algorithm utilizing the information obtained intermittently through the communication network is constructed. It is shown that these consensus algorithms achieve global leader‐following consensus as long as the communication topology among all agents, when the communication is active, contains a spanning tree rooted at the leader agent. Numerical examples are given to show the theoretical results.