Consensus problems for multi-agent systems with nonlinear algorithms

Abstract

The paper investigates consensus problems for multi-agent systems with nonlinear algorithms. Group consensus algorithms with actuator saturation for the firstorder and second-order multi-agent systems are proposed. In addition, the adaptive consensus algorithm with nonlinear dynamic is also given. By applying the graph theory, Lyapunov function, and LaSalle's invariance principle, consensus conditions for multi-agent systems are derived. Finally, three simulation examples are provided to denote the effectiveness of obtained theoretical results.

Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation

“…In [18], a novel finite-time control approach is presented to overcome the effects of state constraints on system performance. e group consensus algorithms with input saturation are given in [19]. From the vessels' work situation, it is very necessary to take input saturation into account in cluster control through the actual working conditions of the multiple USVs.…”

Consensus in networked multi-robot systems via local state feedback robust control

“…In order to ensure the effectiveness of the distributed control strategy, the consensus problem which as the basic problem of distributed cooperative control is firstly considered and has been employed in various engineering application. Consensus algorithms have a historical perspective in literature, [8][9][10][11][12] to name a few. In general, the multi-agent systems can be separated into two categories: leaderless system and leader-follower system.…”