Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators

作     者：SHI Liangren ZHAO Zhiyun LIN Zongli 

作者机构：Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240 China Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology) Ministry of Education Shanghai 200237 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2018年第31卷第1期

页      面：69-86页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation of China under Grant No.61733018 Shanghai Natural Science Foundation under Grant No.17ZR1445400 China Postdoctoral Science Foundation under Grant Nos.2017M610233 and 2016T90373 the Fundamental Research Funds for Central Universities under Grant No.222201714030 the US Army Research Office under Grant No.W911NF-17-1-0535 

主　　题：Consensus containment control dead zone leaderless consensus multi agent systems saturation 

摘      要：This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.