Dynamic Gain Scheduling Control Design For Multiagent Systems Subject To Input Saturation

Recently,coordination control of multi-agent systems is an advanced research topic in the international systems and control field.Coordination control design relies on information exchange between neighboring agents on the network,and is widely in many different fields such as clustering,formation control and distributed sensor networks.On the other hand,input saturation is a common and important nonlinear phenomenon in real systems,and appears in most physical actuators.In recent years,the low-gain feedback control is considered as one of the most important methods to deal with input saturation problem.In order to satisfy the saturation constraint,most saturated control inputs do not fully utilize the potential of the actuator,which leads to a degradation in the dynamic performance of the agents.Moreover,some systems with high accuracy often require faster convergence time,requiring the states of all agents to reach consensus in finite time.The main content of this dissertation has the following aspects.(1)The continuous gain scheduling state feedback control problem for linear multiagent systems subject to input saturation is proposed.Firstly,suppose that each agent is asymptotically null controllable with bounded control.Secondly,due to the existence of input saturation,the dynamic performance of linear multiagent systems degrades significantly.For the improvement of the dynamic performance of systems,a continuous dynamic gain scheduling state feedback control approach is proposed to design a dynamic Laplacian-like feedback controller.By using comparison lemma and parametric Lyapunov equation theory,a nonlinear scalar differential equation with on-line solution is obtained.Finally,numerical simulation demonstrates the effectiveness of the proposed distributed continuous dynamic control design method.(2)The continuous gain scheduling output feedback control problem for linear multiagent systems subject to input saturation is investigated.Due the system state is not easy to measure directly or the measuring equipment is limited in economy and usability,the physical realization of state feedback is difficult.On this basis,based on parametric Lyapunov equation,an observer-based continuous dynamic output feedback gain scheduling control method is proposed.The proposed controller can effectively improve the dynamic performance of multiagent system with actuator saturation,and the time-varying parameter design is independent of state,which can be solved off-line and requires little computation.Finally,two examples are given to verify the validity of the proposed control design method.(3)The discrete gain scheduling state feedback control problem of linear multiagent systems with input saturation is considered.Firstly,suppose that the network topology is a signed directed graph containing a directed spanning tree and is structurally balanced.Secondly,the bipartite consensus problem of multi-agent systems with actuator saturation is transformed into the stability problem of general error systems.Based on the invariant set theory and the parameter Lyapunov equation,a distributed discrete gain scheduling state feedback control protocol is proposed.Moreover,with the increase of discrete switching parameters,the convergence rate of the system will be gradually accelerated.Finally,numerical simulation is given to verify the validity of the proposed distributed discrete control design method.(4)The discrete gain scheduling output feedback control problem for linear multiagent systems with input saturation is considered.The state observer system is introduced because the system state is not easy to measure directly.A distributed discrete gain scheduling output feedback control protocol is proposed by using the parameter Lyapunov equation and invariant set theory.With the increasing of introduced discrete switching parameters,distributed discrete controller can effectively improve the dynamic performance of multi-agent systems with actuator saturation.Finally,numerical simulation is given to verify the validity of the theoretical results.