Consensus With Output Saturations
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Publication:4566879
DOI10.1109/TAC.2017.2691306zbMATH Open1390.93052arXiv1606.05980OpenAlexW2964143658MaRDI QIDQ4566879FDOQ4566879
Authors: Young-Hun Lim, Hyo-Sung Ahn 
Publication date: 27 June 2018
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: This paper consider a standard consensus algorithm under output saturations. In the presence of output saturations, global consensus can not be realized due to the existence of stable, unachievable equilibrium points for the consensus. Therefore, this paper investigates necessary and sufficient initial conditions for the achievement of consensus, that is an exact domain of attraction. Specifically, this paper considers singe-integrator agents with both fixed and time-varying undirected graphs, as well as double-integrator agents with fixed undirected graph. Then, we derive that the consensus will be achieved if and only if the average of the initial states (only velocities for double-integrator agents with homogeneous saturation levels for the outputs) is within the minimum saturation level. An extension to the case of fixed directed graph is also provided in which an weighted average is required to be within the minimum saturation limit.
Full work available at URL: https://arxiv.org/abs/1606.05980
Cited In (5)
- Adaptive consensus problems of heterogeneous multi-agent systems with saturations
- Distributed event-triggered control for global consensus of multi-agent systems with input saturation
- Consensus of cooperative-antagonistic multi-agent networks with asynchronous three-option decision mechanism
- Output-based dynamic event-triggering control for sensor saturated systems with external disturbance
- An efficient approach to stabilization for linear systems subject to output saturation
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