A Hybrid Switching Control Approach to Consensus of Multiagent Systems

Area of Science:

• Control Theory
• Systems Engineering
• Robotics

Background:

• Multiagent systems (MASs) require effective control strategies for coordinated behavior.
• Existing reset control methods for MAS consensus have limitations in transient performance.
• Developing advanced control techniques is crucial for improving the efficiency and stability of MAS.

Purpose of the Study:

• To develop a novel hybrid switching control (HSC) approach for multiagent systems (MASs).
• To enhance the transient consensus performance of MASs compared to existing reset control methods.
• To ensure continuous controller output and consistent signal direction for improved stability.

Main Methods:

• Introduction of a hybrid switched controller with two modes: reset control and gain control.
• Design of a switching mechanism to guarantee continuous controller output and same-sign input-output.
• Application of HSC to MAS consensus, proposing a protocol with proportional control and HSC.
• Construction of a closed-loop model using binary-value variables for Lyapunov-based analysis.

Main Results:

• The proposed HSC approach demonstrates superior transient consensus performance in MASs.
• The controller design ensures signal continuity and consistent sign, crucial for system stability.
• Lyapunov-based analysis confirms the effectiveness of the developed consensus protocol.

Conclusions:

• The novel hybrid switching control (HSC) approach significantly improves transient consensus in MASs.
• The controller's design guarantees essential properties for stable and efficient multiagent coordination.
• The findings provide a valuable advancement in control strategies for complex multiagent systems.