Consensus Analysis Of Discrete-time Multi-agent Systems With Saturated Actuators

With the development of information and technology in recent years,the application fields of multi-agent systems have become more and more extensive,including UAV systems,unmanned vehicle formations,underwater automatic robot systems,and so on.This article focuses on global consensus and semiglobal consensus of multi-agent systems respectively.And consider the case of leaderless and leader-following,respectively.However,most consensus algorithms are designed under ideal conditions and cannot be applied to actual projects.The main reason is that due to some safety considerations and physical constraints,any instrument and equipment will be saturated with actuators constraint.Since agents use the network to exchange information,communication delay will inevitably occur,so this paper adopts a networked predictive control method to actively compensate for the communication delay caused by agent information exchange.The main work of the thesis is as follows:1.Research on the global consensus of multi-agent systems composed of neutrally systems with communication delay and actuator saturation.That is,for all agents,and the initial state is not limited,they all have a common stable equilibrium point.For multi-agent systems with leader-following and leaderless,respectively,the networked predictive control method is adopted to design control protocols,verification of multi-agent systems achieve global consensus by Lyapunov stability theory.2.Aiming at the semi-global consensus problem of high-order discrete-time multi-agent systems with communication delay and actuator saturation.That is,there is a given bounded invariant set,and there is a common stable equilibrium point for all agents whose initial states belong to this set.A low-gain feedback technology is adopted,that is,a group of parameterized gain matrices are used to design a control protocol based on networked prediction,verification of semiglobal consensus of multi-agent systems to use Lyapunov stability theory under the conditions of leader-following and leaderless,respectively.3.Numerical simulation is carried out with MATLAB to verify the correctness of the designed control protocol.