Distributed Global Leader-Following Coordination of MASs with Heterogeneous Input Saturation: Scheduling Low-Gain Revisited

IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Xiaoling Wang , Shengnan Zhu , Juan Qian , Housheng Su
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引用次数: 0

Abstract

In this paper, we revisit the global coordinated tracking problem of the leader-following multi-agent systems with input saturation via the scheduling low-gain feedback technique, aiming to make breakthroughs from aspects such as the heterogeneity of saturation level and the distributed characteristic of scheduled tuning algorithms on the low-gain parameters, that is the newly proposed distributed scheduling low-gain approach. First, we provide a continuous-time tuning algorithm for the low-gain parameter of each follower to articulate the fundamental idea of the distributed scheduling low-gain technique on addressing heterogeneous saturation, so as to solve the global consensus tracking of multi-agent systems with heterogeneous input saturation and one leader. Then, this result is extended to the global containment tracking of multi-agent systems with multiple leaders. Furthermore, from the perspective of reducing communication burden, we further propose a distributed scheduling low-gain parameter algorithm by using the sampled relative information between each follower and its neighbors, and offer the upper and lower bounds on the sampling period to ensure the achievement of global coordination tracking. Finally, numerical simulations are performed to verify the theoretical results.
具有异构输入饱和的分布式全局先导-跟随质量协调:低增益调度
本文通过调度低增益反馈技术重新研究了输入饱和的先导-跟随多智能体系统的全局协调跟踪问题,旨在突破饱和水平的异质性和调度调优算法对低增益参数的分布式特性,即新提出的分布式调度低增益方法。首先,提出了每个follower的低增益参数的连续时间整定算法,阐明了分布式调度低增益技术解决异构饱和问题的基本思想,从而解决了具有异构输入饱和和一个leader的多agent系统的全局共识跟踪问题。然后,将这一结果推广到具有多个领导者的多智能体系统的全局遏制跟踪。进一步,从减少通信负担的角度出发,利用每个follower与其邻居之间的采样相对信息,提出了一种分布式调度低增益参数算法,并给出了采样周期的上界和下界,保证了全局协调跟踪的实现。最后,通过数值模拟验证了理论结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
7.30
自引率
14.60%
发文量
586
审稿时长
6.9 months
期刊介绍: The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.
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