SCIENCE CHINA Information Sciences, Volume 60 , Issue 7 : 072201(2017) https://doi.org/10.1007/s11432-016-0705-y

Robust semi-global leader-following practical consensus of a group of linear systemswith imperfect actuators

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  • ReceivedNov 1, 2016
  • AcceptedDec 9, 2016
  • PublishedMay 19, 2017


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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