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Distributed average tracking with input saturation

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Abstract

In this paper, the distributed average tracking (DAT) problem of a multi-agent system with input saturation is considered, whose objective is to make each agent track the average of a group of time-varying reference signals by local saturated inputs. This paper proposes two algorithms based on the techniques of low-gain feedback and nonsmooth feedback. The first algorithm considers reference signals without external inputs under the low-gain feedback scheme. We show that if the system matrix of the references is negative semi-definite, then the DAT error will be ultimately upper bounded. The other algorithm considers reference signals with bounded inputs, where the idea of nonsmooth feedback is employed. Finally, two simulation examples are presented to validate the theoretical results.

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Authors and Affiliations

  1. Department of Automation, Xiamen University, Xiamen, 361005, Fujian, China

    Hui Liu, Fei Chen, Linying Xiang & Weiyao Lan

Authors
  1. Hui Liu
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  2. Fei Chen
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  3. Linying Xiang
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  4. Weiyao Lan
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Corresponding author

Correspondence to Fei Chen.

Additional information

This work was supported in part by National Natural Science Foundation of China under Grant 61473240, National Natural Science Foundation of Fujian Province under Grant 2017J01119, and State Key Laboratory of Intelligent Control and Decision of Complex Systems.

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Liu, H., Chen, F., Xiang, L. et al. Distributed average tracking with input saturation. Nonlinear Dyn 90, 2827–2839 (2017). https://doi.org/10.1007/s11071-017-3844-z

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  • DOI: https://doi.org/10.1007/s11071-017-3844-z

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