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Distributed Event-Triggered Control for Global Consensus of Multi-Agent Systems with Input Saturation
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-4299-0471
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.
(English)Manuscript (preprint) (Other academic)
Abstract [en]

We consider the global consensus problem for multi-agent systems with input saturation over digraphs. Under a mild connectivity condition that the underlying digraph has a directed spanning tree, we use Lyapunov methods to show that the widely used distributed consensus protocol, which solves the consensus problem for the case without input saturation constraints, also solves the global consensus problem for the case with input saturation constraints. In order to reduce the overall need of communication and system updates, we then propose a distributed event-triggered control law. Global consensus is still realized and Zeno behavior is excluded. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.

National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-205560OAI: oai:DiVA.org:kth-205560DiVA: diva2:1089205
Note

QCR 20170519

Available from: 2017-04-18 Created: 2017-04-18 Last updated: 2017-05-19Bibliographically approved

Open Access in DiVA

fulltext(465 kB)10 downloads
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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf