Observer-based distributed consensus algorithm for multi-agent systems with output saturations

Abstract

This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of the leader-following consensus is to track the trajectory of the leader by exchanging information with neighbors. To solve this problem, we propose an observer-based distributed consensus algorithm. Then, we provide a consensus analysis by applying the Lyapunov stability theorem and LaSalle's invariance principle. The result shows that the agents achieve the leader-following consensus in a global sense. Moreover, we can achieve the consensus by choosing any positive control gain. Finally, we perform a numerical simulation to demonstrate the validity of the proposed algorithm. ? 2019, Korea Institute of Information and Communication Engineering.