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Coordinated tracking of linear multiagent systems with input saturation and stochastic disturbances
1School of Automation, Southeast University, Nanjing 210096, China; Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China.
ISA Transactions
|July 26, 2017
Summary
This study develops tracking control laws for linear multiagent systems facing input saturation and disturbances. The proposed methods ensure consensus tracking and bounded state differences, enhancing system stability and performance.
Area of Science:
- Control Systems Engineering
- Networked Systems Theory
- Stochastic Systems Analysis
Background:
- Coordinated tracking is crucial for multiagent systems but challenged by input saturation and external disturbances.
- Ensuring stable and predictable system behavior under these constraints is a significant research problem.
Purpose of the Study:
- To design robust tracking control laws for linear multiagent systems with input saturation and stochastic disturbances.
- To achieve consensus tracking in ideal conditions and bounded state variance under disturbances.
Main Methods:
- Utilizing low gain feedback techniques to develop tracking control algorithms.
- Leveraging the assumption of agents being asymptotically null controllable with bounded controls (ANCBC).
- Employing routine mathematical manipulations to solve the coordinated tracking problem.
Main Results:
- A class of tracking control algorithms was successfully proposed.
- The coordinated tracking problem for the specified system was solved.
- Theoretical results were validated through numerical examples, demonstrating effectiveness.
Conclusions:
- The developed control laws effectively address coordinated tracking in linear multiagent systems with input saturation and disturbances.
- The low gain feedback approach provides a viable solution for achieving robust consensus and bounded state differences.
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