文章基本信息

标题：On Consensus of Nonlinear Multi-Agent Systems with Output Constraints
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作者：Dinh Hoa Nguyen ; Dinh Hoa Nguyen ; Tatsuo Narikiyo 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：22
页码：103-108
DOI：10.1016/j.ifacol.2016.10.380
语种：English
出版社：Elsevier
摘要：Abstract: This paper proposes a unified approach to analyze and synthesize consensus control laws for nonlinear leaderless multi-agent systems (MASs) subjected to output constraints. First, we employ the input-output feedback linearization method to derive the linearized models of agents. Accordingly, the consensus problem under output constraints for the initial nonlinear MAS is transformed into an equivalent consensus problem under state constraints for the linearized MAS, which is then reformulated as a network of Lur’e systems. Next, a sufficient condition for consensus and the design of consensus controller gain are derived from solutions of a distributed LMI convex problem. Finally, a numerical example is introduced to illustrate the proposed theoretical approach.
关键词：KeywordsMulti-agent SystemsConsensusOutput ConstraintsFeedback LinearizationLur’e Networksdistributed LMI