Distributed Global Consensus of LTI Mass with Heterogeneous Actuator Saturation and Communication Noises
Xiaoling Wang, Juan Qian, Housheng Su, Xiujuan Lu, James Lam
Abstract
In this paper, we focus on a general linear time-invariant multiagent system with heterogeneous actuator saturation to answer the main question: how to achieve global consensus under the premise of asymptotically null controllable with bounded controls of each agent so as to make breakthroughs from the perspectives of global consensus, heterogeneous actuator saturation, communication noises, and distributed characteristic preservation. We introduce a distributed control algorithm that incorporates a redesigned saturation function featuring a decentralized dynamic saturation level to achieve these objectives. Each component of the dynamic saturation level self-updates according to an adaptive strategy. The proposed method effectively eliminates heterogeneous actuator saturation by carefully selecting both the constant and time-varying saturation parameters in the adaptive strategy of the dynamic saturation level. Our approach achieves both state feedback–based and output feedback–based global consensus, with the latter utilizing a special coordinate decomposition. Numerical simulations demonstrate the efficacy of our method.<br>