Journal
NEUROCOMPUTING
Volume 351, Issue -, Pages 43-50Publisher
ELSEVIER
DOI: 10.1016/j.neucom.2019.03.030
Keywords
Multi-agent system; Heterogeneous system; Consensus; Input saturation
Categories
Funding
- Ministry of Education of China under the 111 Project [B12018]
- National Natural Science Foundation of China [61773011, 61833007]
- Australian Research Council
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In this paper, the consensus for second-order heterogeneous multi-agent system is investigated. The heterogeneous system consists of linear and nonlinear second-order agents, where the nonlinear agents are still with different structures. First, the consensus of the system with and without a static leader is discussed, respectively. Then, we consider a general case where the inputs of linear second-order agents are bounded by virtue of the limitation of the actuators. Effective control protocols to achieve consensus are presented for these cases. Based on graph theory and Lyapunov stability theory, sufficient conditions are established for the consensus of heterogeneous system, where the communication topology is undirected and connected. Finally, several numerical examples are presented to verify the validity of the developed method. (C) 2019 Elsevier B.V. All rights reserved.
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