Semi-global state synchronization for multi-agent systems subject to actuator saturation and unknown nonuniform input delay

Meirong Zhang, Ali A. Saberi, Antonie Arij Stoorvogel

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Abstract

This paper studies semi-global state synchronization of homogeneous networks with diffusive full-state coupling subject to actuator saturation and unknown nonuniform input delay. We assume that agents are at most critical unstable, that is the agents have all its eigenvalues in the closed left-half complex plane. The communication network is associated with an undirected and weighted graph. In this paper, we derive an upper bound for the input delay tolerance, which explicitly depends on the agent dynamics. Moreover, for any unknown delay less than the upper bound, we propose a linear static protocol for MAS based on a low-gain methodology such that state synchronization is achieved among agents for any initial conditions in a priori given compact set.
Original languageEnglish
Title of host publication2020 American Control Conference (ACC)
Place of PublicationDenver
PublisherIEEE
Pages3319 - 3324
Number of pages6
ISBN (Electronic)978-1-5386-8266-1
ISBN (Print)978-1-5386-8267-8
DOIs
Publication statusPublished - 27 Jul 2020
EventAmerican Control Conference, ACC 2020 - Denver, Denver, United States
Duration: 1 Jul 20203 Jul 2020

Conference

ConferenceAmerican Control Conference, ACC 2020
Abbreviated titleACC 2020
CountryUnited States
CityDenver
Period1/07/203/07/20
OtherVirtual Conference

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