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On global leader-following consensus of identical linear dynamic systems subject to actuator saturation. (English) Zbl 1259.93011
Summary: This paper studies the leader-following consensus problem for a group of agents with identical linear systems subject to control input saturation. We focus on two classes of linear systems, neutrally stable systems and double integrator systems. For neutrally stable systems, we establish that global consensus can be achieved by linear local feedback laws over a fixed communication topology, and with proper choices of relative potential functions, global consensus can also be achieved over a switching communication topology. For double integrator systems, we establish that global consensus can be achieved by linear local feedback laws over a fixed communication topology, and with the help of a simple saturation function in the local feedback laws, global consensus can also be achieved over a switching communication topology. Simulation results illustrate the theoretical results.

MSC:
93A14 Decentralized systems
68T42 Agent technology and artificial intelligence
93C15 Control/observation systems governed by ordinary differential equations
93C30 Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)
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