期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 85, 期 7, 页码 906-914出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2012.669048
关键词
heterogeneous multi-agent systems; consensus; without velocity measurements; input constraint
资金
- 973 Program [2012CB821203]
- NSFC [61020106005, 10972002, 61104212]
- Fundamental Research Funds for the Central Universities [K50511040005, K50510040003]
This article considers the consensus problem of heterogeneous multi-agent system composed of first-order and second-order agents, in which the second-order integrator agents cannot obtain the velocity (second state) measurements for feedback. Two different consensus protocols are proposed. First, we propose a consensus protocol and discuss the consensus problem of heterogeneous multi-agent system. By applying the graph theory and the Lyapunov direct method, some sufficient conditions for consensus are established when the communication topologies are undirected connected graphs and leader-following networks. Second, due to actuator saturation, we propose another consensus protocol with input constraint and obtain the consensus criterions for heterogeneous multi-agent system. Finally, some examples are presented to illustrate the effectiveness of the obtained criterions.
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