Consensus Control For Adjacently Input Saturated Multi-agent Systems With State Predictors

The consensus of multi-agent systems means that each agent in the systems tends to be the same in some state quantities.Consensus control can provide some profound insights and potential application prospects for information control,multi-sensor information fusion,smart grid and other related distributed systems.With the development of predictive control in the industrial field,its application technology in multi-agent systems cooperative control is also improving.In practical applications,input saturation constraint is a common phenomenon.Therefore,it is very important and meaningful to consider input saturation when studying the consensus control of multi-agent systems with state predictors.This paper focuses on the consensus control for adjacently input saturated multi-agent systems with state predictors.The main research objects are the adjacently input saturated multi-agent systems with state predictors in undirected graph,the leader-following adjacently input saturated multi-agent systems,In this paper,different consensus control algorithms are proposed for different multi-agent systems.By using the proper method to deal with the input saturation term,the sufficient conditions for the state consensus of the adjacently input saturated multi-agent systems with state predictors in undirected graph are obtained.Numerical simulation based on MATLAB software shows that the conclusion is effective.The main contents and research results of this paper are summarized as follows:1.This paper summarizes the research background and significance of the consensus control problem of adjacently input saturated multi-agent system with state predictor.And it briefly introduces the research results of saturated limited multi-agent systems and some basic mathematical knowledge,definitions and lemmas needed.2.The consensus of adjacently input saturated multi-agent systems with state predictors and the consensus of leader-following adjacently input saturated multi-agent systems with state predictors are studied.The appropriate Lyapunov functions are selected for the two different multi-agent systems.According to the characteristic of sign function,the input saturation term is processed.It is proved that the adjacently input saturated multi-agent systems with state predictors and the leader-following adjacently input saturated multi-agent systems can achieve consensus under the corresponding control protocol algorithms.In addition,the corresponding numerical simulation examples are given.3.The consensus of adjacently input saturated time delays multi-agent systems with state predictors and the consensus of leader-following adjacently input saturated time delays multi-agent systems with state predictors are investigated in this paper.According to the sector region method,the input saturation term is processed,and the appropriate Lyapunov function is selected.It is proved that the adjacently input saturated time delays multi-agent systems with state predictors and the leader-following adjacently input saturated time delays multi-agent systems can achieve consensus under the corresponding control protocol algorithms.At last,a numerical simulation example is given.Finally,this paper summarizes the above contents and prospects the development of related topics due to the existing research results.