Application-Oriented Homogeneous Control Protocol Design for Multi-Agent Systems Under Input Constraints

An application-oriented homogeneous control protocol is proposed to solve the consensus problem of multi-agent system (MAS) modeled by higher-order integrator. This nonlinear control protocol is able to homogenize the linear system with a special degree called homogeneity degree. This homogeneous co...

Full description

Saved in:
Bibliographic Details
Published in:Guidance, Navigation and Control Navigation and Control, 2023-09, Vol.3 (3)
Main Authors: Wang, Siyuan, Soni, Sandeep Kumar, Zheng, Gang, Boutat, Driss
Format: Article
Language:English
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:An application-oriented homogeneous control protocol is proposed to solve the consensus problem of multi-agent system (MAS) modeled by higher-order integrator. This nonlinear control protocol is able to homogenize the linear system with a special degree called homogeneity degree. This homogeneous control protocol ensures asymptotically/finite-time stable multi-agent systems (MASs) (or fixed-time attractive to compact sets containing the origin) by selecting different homogeneity degrees. If the linear control protocol for each agent is provided, the proposed nonlinear homogeneous control protocol in this paper can be easily implemented without requiring any tuning of the control parameters. A bounded homogeneous control protocol, which is a special form of the controller proposed, is also introduced to address the same problem with input constraints. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed approach.
ISSN:2737-4807
2737-4920
DOI:10.1142/S2737480723500140