存在执行器饱和的多智能体系统一致性问题

Consistency of multi-agent systems with actuator saturation

研究了执行器饱和下的多智能体系统一致性问题。通过设计合适的控制律来解决执行器饱和的问题。在控制器的设计过程中,采用每一个跟随者的相对输出信息进行设计。分析每一个跟随者和领航者之间的状态差所构成的新的闭环系统,然后通过吸引区域的优化,给出在执行器饱和下多智能体系统实现一致性所需满足的条件,最后通过Matlab仿真验证结果的有效性。

In this paper,the consistency problem of multi-agent system under actuator saturation is studied.By designing an appropriate control law,the problem of actuator saturation is solved.In the design process of the controller,the relative output information of each follower is used.The new closed-loop system formed by the state difference between each follower and the leader is analyzed.Then by optimizing the domain of attraction,the conditions to achieve the consistency of the multi-agent system under actuator saturation are given.Finally,the validity of the results is verified by Matlab simulations.