具有输入饱和约束的周期多智能体系统的双边一致性

The Bipartite Consensus of Periodic Multi⁃agent Systems with Input Saturation Constraints

主要研究具有输入饱和约束的周期多智能体系统的双边一致性问题。利用符号有向图的结构平衡性和强连通性,以及周期黎卡提微分方程的周期解,设计类拉普拉斯反馈控制律,使得线性周期多智能体系统能够达到半全局双边一致。基于李雅普诺夫函数的方法,分析该控制律的收敛速度。最后通过算例表明所提出方法的有效性。

This paper investigates the bipartite consensus of periodic multi⁃agent systems with input saturation.Taking advantage of the structurally balance and strongly connected of the signed digraph,a periodic solution of Periodic Riccati Differential Equation is used to design a feedback control law like Laplacian such that the semi⁃global bipartite consensus can be achieved for the linear multi⁃agent system.The method of Lyapunov function is used to analyze the convergence rate.A numerical example is worked out to show the effectiveness of the proposed method.