1. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
2. Key Laboratory of Advanced Control and Optimization for Chemical Processes $($East China University of Science and Technology$)$, Ministry of Education, Shanghai 200237, China
3. Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia,Charlottesville VA 22904-4743, USA
Corresponding author (email@example.com
This paper considers the problem of semi-global leader-following consensus of a multi-agent systemwhose agent dynamics are represented by linear systems. The input output characteristics of thefollower agent actuators, such as those of saturation and dead-zone, are imperfect, not precisely known,and subject to the effect of disturbances. Two consensus control algorithms, of the low-and-high gainfeedback type and the low gain based variable structure control type, are proposed for solving theconsensus problem. It is shown that both of these control algorithms achieve semi-globalleader-following practical consensus in the presence of the imperfectness of the actuators when thecommunication topology among the follower agents is represented by a strongly connected anddetailed balanced directed graph and the leader agent is a neighbor of at least one followeragent. The theoretical results are illustrated by numerical simulation.
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