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A time-varying gain method to consensus control of high-order nonlinear multi-agent systems with input saturations

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  • Hanfeng Li
  • Min Li

Abstract

This paper introduces a fresh time-varying gain method to tackle the leader–follower consensus issue of high-order nonlinear multi-agent systems while taking into account input saturations. The nonlinear characteristics of each agent are structured in a triangular pattern and are susceptible to influence from unspecified external disturbances. Within the framework of the lower triangular structure, a compensator with time-varying gain is tailored for each agent. This compensator is established by the output of the follower and its neighbouring agents. By utilising a directed communication topology, a distributed output feedback control protocol is crafted for the system at hand. This protocol ensures that consensus errors gradually converge towards a customisable bounded region. Moreover, the time-varying gain method can be extended to achieve consensus control for multi-agent systems, where each agent is characterised by an upper triangular structure. The effectiveness of the proposed distributed control protocols is shown by two simulation examples.

Suggested Citation

  • Hanfeng Li & Min Li, 2025. "A time-varying gain method to consensus control of high-order nonlinear multi-agent systems with input saturations," International Journal of Systems Science, Taylor & Francis Journals, vol. 56(10), pages 2357-2369, July.
    • Handle: RePEc:taf:tsysxx:v:56:y:2025:i:10:p:2357-2369
    DOI: 10.1080/00207721.2024.2447881
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