Application-Oriented Homogeneous Control Protocol Design for Multi-Agent Systems Under Input Constraints

An application-oriented homogeneous control protocol is proposed to solve the consensus problem of multi-agent system(MAS)modeled by higher-order integrator.This nonlinear control protocol is able to homogenize the linear system with a special degree called homogeneity degree.This homogeneous control protocol ensures asymptotically/finite-time stable multi-agent systems(MASs)(or fixed-time attractive to compact sets containing the origin)by selecting di®erent homogeneity degrees.If the linear control protocol for each agent is provided,the proposed nonlinear homogeneous control protocol in this paper can be easily implemented without requiring any tuning of the control parameters.A bounded homogeneous control protocol,which is a special form of the controller proposed,is also introduced to address the same problem with input constraints.Finally,numerical simulations are conducted to demonstrate the e®ectiveness of the proposed approach.