Fully Distributed Anti-Windup Consensus Protocols for Linear MASs With Input Saturation: The Case With Directed...

Area of Science:

• Control Systems Engineering
• Networked Systems
• Robotics

Background:

• Linear multiagent systems (MASs) face challenges in achieving consensus due to input saturation and limited communication.
• Existing methods often require global information or lack robustness to saturation effects.

Purpose of the Study:

• To develop fully distributed adaptive anti-windup protocols for linear MASs with input saturation under directed graphs.
• To address the challenge of limited local output information availability among agents.

Main Methods:

• Introduction of a multilevel saturation feedback control approach.
• Construction of local, distributed, and anti-windup observers for each agent.
• Development of a dual protocol integrating distributed and anti-windup observers.
• Proposal of three distinct distributed anti-windup protocols based on an integrated observer, with varying information requirements and assumptions.

Main Results:

• A novel fully distributed adaptive anti-windup protocol is proposed, effectively handling input saturation in MASs.
• The dual protocol offers insights into observer design and potential controller order reduction.
• Three specific protocols demonstrate different approaches to consensus error estimation using local or relayed information and assumptions on system dynamics.
• Theoretical proofs and simulation examples validate the efficacy of the proposed protocols.

Conclusions:

• The proposed distributed adaptive anti-windup protocols successfully address the consensus problem in linear MASs with input saturation.
• The developed observer-based strategies enhance system robustness and performance under communication constraints.
• The research provides a comprehensive framework for designing distributed control systems with anti-windup capabilities.