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Fully Distributed Event-Triggered Anti-Windup Consensus of Heterogeneous Systems With Input Saturation and an Active

Chenhang Yan, Liping Yan, Yuezu Lv

    IEEE Transactions on Neural Networks and Learning Systems
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    This study presents an event-based consensus protocol for multiagent systems (MASs) with input saturation. It enables agents to achieve consensus using only local information, even with a leader having unknown control input.

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    Area of Science:

    • Control Systems Engineering
    • Distributed Systems
    • Networked Systems

    Background:

    • Multiagent systems (MASs) face challenges in achieving consensus, especially with input constraints.
    • Event-triggered control offers efficiency by reducing communication and computation.
    • Heterogeneous systems and leader-following dynamics add complexity to consensus problems.

    Purpose of the Study:

    • To develop an event-based, fully distributed consensus protocol for linear heterogeneous MASs.
    • To address the challenge of input saturation in MASs control.
    • To achieve leader-following consensus with a leader exhibiting unknown, bounded control input.

    Main Methods:

    • An adaptive dynamic event-triggered protocol was designed.
    • A multiple-level saturation technique was applied for input-constrained control.
    • The protocol was developed for directed graphs with a leader-rooted spanning tree.

    Main Results:

    • Output consensus was achieved for all agents without global knowledge.
    • Input-constrained leader-following consensus control was successfully implemented.
    • The proposed protocol achieves saturated control using only local information, without prior conditions.

    Conclusions:

    • The developed event-triggered algorithm effectively solves the consensus problem for linear heterogeneous MASs under input saturation.
    • The protocol's reliance on local information and ability to handle input constraints represent significant advancements.
    • Numerical simulations validate the protocol's performance in achieving consensus.