Volume 18, Issue 3 (Journal of Control, V.18, N.3 Fall 2024)
JoC 2024, 18(3): 59-69 |
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Zanganeh J, Hosseini Sani S K, Pariz N. Consensus of Delayed Linear Multi-Agent Systems with Dynamic Leader Under Saturation Constraints of Relative States. JoC 2024; 18 (3) :59-69
URL: http://joc.kntu.ac.ir/article-1-1019-en.html
URL: http://joc.kntu.ac.ir/article-1-1019-en.html
1- Department of Electrical Engineering, Faculty of Engineering, Ferdowsi University of Mashhad (FUM), Mashhad, Iran
Abstract: (1381 Views)
In this paper, the consensus problem of linear multi-agent systems (MASs) with time-varying communication delay and dynamic leader under saturations of the relative states is studied. First, using the incidence matrix and edge Laplacian matrix, the consensus of delayed MAS with the saturation of relative states is transformed into the problem of edge dynamics stability on the closed sets. For this purpose, using saturation functions, a distributed control protocol is designed, which ensures the consensus of all agents despite the relative state saturation constraints. Then, by providing a proper Lyapunov-Krasovskii functional, sufficient conditions for the stability of the agents are created. By applying these conditions, not only consensus is reached and all agents follow the path of the dynamic leader well, but also saturation of the relative state does not happen. While the limited communication delay can be time-varying and arbitrarily fast. This stability and consensus are obtained by maintaining graph continuity. Finally, the validity of theoretical results is demonstrated by simulating a practical example.
Keywords: Consensus, general linear multi-agent systems, time-varying communication delay, dynamic leader, saturation of relative states, Lyapunov-Krasovskii stability
Type of Article: Research paper |
Subject:
Special
Received: 2024/01/17 | Accepted: 2024/07/28 | ePublished ahead of print: 2024/09/28 | Published: 2024/11/21
Received: 2024/01/17 | Accepted: 2024/07/28 | ePublished ahead of print: 2024/09/28 | Published: 2024/11/21
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