Consensus Analysis Of Actuator Saturation Multi-agents System

The multi-agents system has been used in many fields widely,so it has attracted a lot of attention.Consensus problem is a basic problem,so people pay a lot of attention to it.But in real control,many phenomena such as saturation,time-delay and disturbance exist widely,thus it has theoretical and practical value to consider the consistency problems of multi-agents system with saturation constraints.In recent years,domestic and foreign scholars have done a lot of work on multi-agents system with saturation constraint.Based on previous research results,this paper discusses the consensus problems of actuator saturation multi-agents system.This paper mainly studies the consensus of multi-agents system under the influence of saturation constraint and time-delay.A consensus algorithm is designed.Based on the Lyapunov theory,the sufficient condition for the consistency of the system is obtained.This paper includes the following contents:Firstly,the background and significance of the topic is introduced briefly.The multi-agents system and its consistency are summarized.The research situation about the consensus of multi-agents system with constrained such as saturation and time-delay is introduced.Some preliminary knowledge and lemmas needed are given,such as graph theory?domain of attraction and average dwell-time.Secondly,a class of multi-agents system with uncertain term subject to actuator saturation is considered.By the method of convex combination we deal with saturation.A consensus law is proposed.By Lyapunov stability theory,a suitable Lyapunov function is chosen to obtain the condition for local consensus of multi-agents system.With the help of ellipsoid region and polyhedron,we estimate the domain of attraction.Finally,the simulation is given.Thirdly,a class of continuous input varying-delay multi-agents system with saturation constrained is considered.The method of sector region is used to dispose saturation.An appropriate Lyapunov function is selected.Jensen inequality lemma is used to deal with result.Condition of consensus of multi-agents system is given.Finally,the simulation is given.In this paper,a class of discrete-time saturation multi-agents system with both small time-delay and large time-delay(Consensus cannot be guaranteed)is also considered.According to the size of time-delay,two kinds of control protocols are designed to change the multi-agents system into discrete-time switched system.Based on Lyapunov stability theory and the idea of the average dwell-time method,the sufficient condition for consensus of multi-agents system can be achieved.Finally,the content of this thesis is summarized.