Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1129-1137

https://doi.org/10.1007/s12555-022-1201-6

© The International Journal of Control, Automation, and Systems

Robust Positive Consensus for Heterogeneous Multi-agent Systems

Ruonan Li, Yutao Tang, and Shurong Li*

Beijing University of Posts and Telecommunications

Abstract

This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To solve this problem, we present a two-step design procedure. By constructing an auxiliary multi-agent system as positive local reference generators, we incorporate the reference generator into an applicable decentralized robust tracking controller for each agent. The proposed distributed algorithm is proven to ensure a robust consensus fulfilling certain prescribed pattern for the multi-agent system under switching topology in the sense of finite-gain stability with respect to the external inputs. A simulation example is finally given to illustrate the effectiveness of our design.

Keywords Distributed control, multi-agent systems, positive consensus, switching topology.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1129-1137

Published online April 1, 2024 https://doi.org/10.1007/s12555-022-1201-6

Copyright © The International Journal of Control, Automation, and Systems.

Robust Positive Consensus for Heterogeneous Multi-agent Systems

Ruonan Li, Yutao Tang, and Shurong Li*

Beijing University of Posts and Telecommunications

Abstract

This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To solve this problem, we present a two-step design procedure. By constructing an auxiliary multi-agent system as positive local reference generators, we incorporate the reference generator into an applicable decentralized robust tracking controller for each agent. The proposed distributed algorithm is proven to ensure a robust consensus fulfilling certain prescribed pattern for the multi-agent system under switching topology in the sense of finite-gain stability with respect to the external inputs. A simulation example is finally given to illustrate the effectiveness of our design.

Keywords: Distributed control, multi-agent systems, positive consensus, switching topology.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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