Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators

SHI Liangren,ZHAO Zhiyun,LIN Zongli

系统科学与复杂性(英文) ›› 2018, Vol. 31 ›› Issue (1) : 69-86.

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系统科学与复杂性(英文) ›› 2018, Vol. 31 ›› Issue (1) : 69-86. DOI: 10.1007/s11424-018-7086-z

Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators

    SHI Liangren1 , ZHAO Zhiyun2 , LIN Zongli3
作者信息 +

Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators

    SHI Liangren1 , ZHAO Zhiyun2 , LIN Zongli3
Author information +
文章历史 +

Abstract

This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.

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SHI Liangren,ZHAO Zhiyun,LIN Zongli. Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators. 系统科学与复杂性(英文), 2018, 31(1): 69-86 https://doi.org/10.1007/s11424-018-7086-z
SHI Liangren , ZHAO Zhiyun , LIN Zongli. Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators. Journal of Systems Science and Complexity, 2018, 31(1): 69-86 https://doi.org/10.1007/s11424-018-7086-z
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