Triggered finite‐time consensus of first‐order multi‐agent systems with input saturation
Kanghua Zheng, Huijin Fan, Lei Liu, Zhongtao Cheng · IET Control Theory and Applications · 2022
Abstract Input saturation, which brings input non‐linearity to systems and limits the closed‐loop systems' performances severely, is an ubiquitous problem in practice. Here, triggered finite‐time consensus problem of disturbed leader‐follower multi‐agent systems is addressed under input saturation constraint. To overcome the coupling of the non‐linearity and finite‐time convergence together with input saturation, non‐linear triggered control protocol has been proposed, which is confirmed through a two‐step stabilization procedure. First, the saturated closed‐loop system is designed to be asymptotically stable, under which the systems converge into a desaturated region in finite time. Then in the second step, with the proposed control protocol, the desaturated closed‐loop multi‐agent systems can achieve practical finite‐time consensus. In addition, to get rid of continuous communication in the monitoring of event‐triggered condition, a self‐triggered approach is further proposed. With rigorous analyses, practical finite‐time consensus can be achieved for the overall closed‐loop systems and Zeno behavior is also excluded. Simulations are carried out in detail to illustrate the theoretical results in this study.