Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

Yanxu Su; Qingling Wang; Changyin Sun

doi:10.1109/JAS.2019.1911837

Volume 7 Issue 1

Jan. 2020

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2020 > 7(1): 150-157

Yanxu Su, Qingling Wang and Changyin Sun, "Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 150-157, Jan. 2020. doi: 10.1109/JAS.2019.1911837

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Yanxu Su, Qingling Wang and Changyin Sun, "Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 150-157, Jan. 2020. doi: 10.1109/JAS.2019.1911837

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Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

doi: 10.1109/JAS.2019.1911837

Funds: This work was partially supported by the National Natural Science Foundation of China (61921004, 61520106009, U1713209, 61973074) and the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions

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Author Bio:
Yanxu Su received the B.E. and M.E. degrees in control engineering from the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China, in 2012 and 2015, respectively. He was a visiting Ph.D. candidate with the Department of Mechanical Engineering, University of Victoria, Victoria, British Columbia, Canada, from 2018 to 2019. He is currently pursuing the Ph.D. degree in control science and engineering at the School of Automation, Southeast University, Nanjing, China. His research interests include multi-agent systems, model predictive control, and distributed optimization

Qingling Wang received the B.S. and M.S. degrees from Central South University, China, in 2007 and 2010, respectively, and the Ph.D. degree in control science and engineering from Harbin Institute of Technology, China, in 2014. He was a Visiting Student at the Australia National University, Canberra, ACT, Australia, from 2012 to 2014, and a Visiting Scholar at the Technical University of Berlin, Germany, in 2016. He is currently an Associate Professor with the School of Automation, Southeast University, Nanjing, China. His research interests include constrained control, adaptive control, and cooperative control of multi-agent systems

Changyin Sun is a Professor at the School of Automation, Southeast University, China. He received the B.S. degree from the College of Mathematics, Sichuan University, China, and the M.S. and Ph.D. degrees in electrical engineering from Southeast University, China, respectively, in 2001 and 2003. He is the Associate Editor of IEEE Transactions on Neural Networks and Learning Systems. His research interests include intelligent control, flight control, pattern recognition, and optimal theory
Corresponding author: The authors are with the School of Automation, Southeast University, Nanjing 210096, and also with the Key Laboratory of Measurement and Control of Complex System of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China (e-mail: yanxu.su@seu.edu.cn; qlwang@seu.edu.cn; cysun@seu.edu.cn)
Received Date: 2019-09-18
Accepted Date: 2019-11-15

Available Online: 2019-12-02

Abstract

Abstract

In this paper, we study the consensus problem for a class of linear multi-agent systems (MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities (LMIs) to show the positively invariant property of the domain of attraction (DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.
- Input saturation,
- linear matrix inequalities (LMIs),
- multi-agent systems (MASs),
- self-triggered control

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References(42)

References

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Differential inclusion: The input saturation is considered in the controller design to fulﬁll the practical constraints.
Self-triggered Control: A self-triggered mechanism is studied to reduce the computational and communicational resources.
LMIs: Some sufﬁcient conditions are given in LMIs to guarantee the positively invariant property of DOA.

Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

doi: 10.1109/JAS.2019.1911837

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