Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(11): 3659-3672

https://doi.org/10.1007/s12555-022-0480-2

© The International Journal of Control, Automation, and Systems

Finite Time Fully Distributed Consensus Control for Multi-agent System With Input Saturation and Limited Communication Resources

Miao Xu, Yiming Fang*, Jianxiong Li, and Xiaodong Zhao

Yanshan University

Abstract

A finite-time fully distributed consensus (FTFDC) control problem is studied for a second-order multiagent system (MAS) with input saturation, limited communication resources and external bounded disturbances. Firstly, to deal with the input saturation characteristics, a second-order auxiliary system is designed to obtain the compensation signal. Secondly, because the leader information can only be obtained by a group of agents connected with the leader, a distributed estimator for each agent is designed to estimate the leader information. Then, to save communication resources, an event trigger condition is designed without continuous communication between agents. Based on the estimator and event trigger condition, a FTFDC controller is designed to realize the finite time fully distributed consensus control of MAS under limited communication resources and external bounded disturbances. Finally, the designed controller is verified by simulation on a multi-spacecraft attitude system model.

Keywords Event triggered control, finite time, fully distributed consensus control, multi-agent system.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(11): 3659-3672

Published online November 1, 2023 https://doi.org/10.1007/s12555-022-0480-2

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

Finite Time Fully Distributed Consensus Control for Multi-agent System With Input Saturation and Limited Communication Resources

Miao Xu, Yiming Fang*, Jianxiong Li, and Xiaodong Zhao

Yanshan University

Abstract

A finite-time fully distributed consensus (FTFDC) control problem is studied for a second-order multiagent system (MAS) with input saturation, limited communication resources and external bounded disturbances. Firstly, to deal with the input saturation characteristics, a second-order auxiliary system is designed to obtain the compensation signal. Secondly, because the leader information can only be obtained by a group of agents connected with the leader, a distributed estimator for each agent is designed to estimate the leader information. Then, to save communication resources, an event trigger condition is designed without continuous communication between agents. Based on the estimator and event trigger condition, a FTFDC controller is designed to realize the finite time fully distributed consensus control of MAS under limited communication resources and external bounded disturbances. Finally, the designed controller is verified by simulation on a multi-spacecraft attitude system model.

Keywords: Event triggered control, finite time, fully distributed consensus control, multi-agent system.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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