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Dynamic consensus of nonlinear time-delay multi-agent systems with input saturation: an impulsive control algorithm

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Abstract

This paper aims to solve the dynamic consensus problem for a class of nonlinear multi-agent systems with input saturation and time delay. Due to the existing nonlinearity of the system, the low-gain feedback method widely used to handle saturation in multi-agent systems is no longer applicable. Moreover, to reduce both the communication and control energy consumption, an impulsive control algorithm is designed. Based on the stability theory of impulsive systems, as well as the property of the Laplacian matrix and convex hull, the set invariance conditions in the format of LMI are obtained. In addition, an optimization method is proposed for simultaneously designing the control parameters and assessing the attraction domain. Finally, the performance of the proposed consensus algorithms is demonstrated by two numerical experiments.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China under Grants 61773172, 61572210, and 51537003, the Natural Science Foundation of Hubei Province of China (2017CFA035), the Fundamental Research Funds for the Central Universities (2018KFYYXJJ119) and the academic frontier youth team of HUST.

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Authors and Affiliations

  1. Key Laboratory of Image Processing and Intelligent Control, Ministry of Education, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, 430074, China

    Xiaolu Liu, Jiang-Wen Xiao & Yan-Wu Wang

  2. School of Mathematics, Southeast University, Nanjing, 211096, China

    Duxin Chen

  3. Hubei Provincial Collaborative Innovation Center for New Energy Microgrid, China Three Gorges University, Yichang, China

    Yan-Wu Wang

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  1. Xiaolu Liu
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  2. Jiang-Wen Xiao
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Correspondence to Yan-Wu Wang.

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Liu, X., Xiao, JW., Chen, D. et al. Dynamic consensus of nonlinear time-delay multi-agent systems with input saturation: an impulsive control algorithm. Nonlinear Dyn 97, 1699–1710 (2019). https://doi.org/10.1007/s11071-019-05098-z

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