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Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

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Yanxu Su, Qingling Wang and Changyin Sun, "Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 150-157, Jan. 2020. doi: 10.1109/JAS.2019.1911837
Citation: Yanxu Su, Qingling Wang and Changyin Sun, "Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 150-157, Jan. 2020. doi: 10.1109/JAS.2019.1911837

Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

doi: 10.1109/JAS.2019.1911837
Funds:  This work was partially supported by the National Natural Science Foundation of China (61921004, 61520106009, U1713209, 61973074) and the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions
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  • In this paper, we study the consensus problem for a class of linear multi-agent systems (MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities (LMIs) to show the positively invariant property of the domain of attraction (DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

     

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    Highlights

    • Differential inclusion: The input saturation is considered in the controller design to fulfill the practical constraints.
    • Self-triggered Control: A self-triggered mechanism is studied to reduce the computational and communicational resources.
    • LMIs: Some sufficient conditions are given in LMIs to guarantee the positively invariant property of DOA.

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