A novel output feedback consensus control approach for generic linear multi-agent systems under input saturation over...

Area of Science:

• Control Systems Engineering
• Robotics
• Networked Systems

Background:

• Multi-agent systems (MASs) face challenges with input saturation.
• Existing consensus control methods often require full state information.

Purpose of the Study:

• To develop an output feedback consensus control for linear MASs under input saturation.
• To address leader-following consensus without requiring the leader's exact state.

Main Methods:

• A stability region-based approach for input saturation.
• Utilizing Luenberger and cooperative observers for state estimation.
• Employing a three-term Lyapunov function for stability analysis.
• A decoupling approach for simplified controller and estimator design.

Main Results:

• Achieved leader-following consensus for MASs under input saturation constraints.
• Derived computationally simple design conditions for controllers and estimators.
• Demonstrated the approach's efficacy through simulations on F-18 aircraft and UGVs.

Conclusions:

• This work presents a novel output feedback consensus approach for MASs with input saturation.
• The method provides a consensus region and handles linear/nonlinear saturation.
• Offers a computationally efficient solution compared to existing methods.