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Consensus seeking in multiagent cooperative control systems with bounded control input

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Abstract

Consensus algorithms in multiagent cooperative control systems with bounded control input are studied in this paper. Consensus algorithms are considered for the single-integrator dynamics and double-integrator dynamics under different communication interaction topologies, and show that consensus is reached asymptotically using the algorithm proposed in this paper for the single-integrator dynamics if the undirected interaction graph is connected, and consensus is reached asymptotically if the directed interaction graph is strongly connected, respectively. In addition, the paper further shows that consensus is reached asymptotically using the algorithm proposed for the double-integrator dynamics if the directed interaction graph is strongly connected. The effectiveness of these algorithms is demonstrated through simulations.

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Authors and Affiliations

  1. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin Heilongjiang, 150001, China

    Shijie Zhang & Guangren Duan

Authors
  1. Shijie Zhang
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  2. Guangren Duan
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Correspondence to Shijie Zhang.

Additional information

This work was supported by the National Natural Science Foundation of China (No. 60710002).

Shijie ZHANG was born in 1984, in Henan, China. He received his B.S. degree from Jilin University in 2006. He is currently a Ph.D. student at the Harbin Institute of Technology. His research interests include cooperative control and nonlinear control.

Guangren DUAN received his Ph.D. degree from Harbin Institute of Technology in 1989. He is currently a professor at Harbin Institute of Technology, and a charted engineer in U.K., a senior member of IEEE and a fellow of IEE. His main research interests include robust control, eigenstructure assignment, descriptor systems missile autopilot control, and magnetic bearing control.

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Zhang, S., Duan, G. Consensus seeking in multiagent cooperative control systems with bounded control input. J. Control Theory Appl. 9, 210–214 (2011). https://doi.org/10.1007/s11768-011-9077-7

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  • DOI: https://doi.org/10.1007/s11768-011-9077-7

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