Leader-Following Consensus for Incremental Quadratic Constrained Nonlinear Multiagent Systems With Actuator Saturation
Jun Huang, Jing Xu, Xudong Zhao, Lin Yang
Abstract
This brief paper considers the regional consensus problem for nonlinear multi-agent systems subject to actuator saturation, and the nonlinear function is supposed to satisfy incremental quadratic constraints, which is a more completed characterization of nonlinearity. Compared with the traditional linear feedback control, a novel saturated nonlinear control protocol is generalized under the framework of composite Laplacian quadratics function. The introduction of the novel function makes the estimation on the domain of consensus larger than the existing Laplacian quadratic function-based methods. The sufficient conditions for the consensus of multi-agent systems are derived by the forms of bilinear matrix inequalities, which cover the existing linear matrix inequality-based conditions as special cases. Finally, a numerical simulation case in the background of aircraft illustrates the validity as well as superiority of the proposed approach.