Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents Over Switching Topologies and Input Saturation
- Authors
- Razaq, Muhammad Ahsan; Rehan, Muhammad; Tufail, Muhammad; Ahn, Choon Ki
- Issue Date
- 12월-2020
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Switches; Topology; Lyapunov methods; Circuits and systems; Circuit stability; Stability analysis; Leader-following consensus; multi-agents; switching topology; one-sided Lipschitz systems; input saturation
- Citation
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, v.67, no.12, pp.3267 - 3271
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
- Volume
- 67
- Number
- 12
- Start Page
- 3267
- End Page
- 3271
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/51294
- DOI
- 10.1109/TCSII.2020.2986009
- ISSN
- 1549-7747
- Abstract
- This brief investigates the leader-based consensus of one-sided Lipschitz (OSL) multi-agents under switching graphs and input saturation. By using the local design approach and multiple Lyapunov functions (MLFs), a novel condition for the consensus in nonlinear agents is provided by accomplishing guaranteed local stability. The notion of the average dwell time (ADT) has been applied for dealing with the switching topologies, which relaxes the classical dwell time restriction for switching instances. In contrast to the classical methods, both input saturation and switching topologies, representing a complicated and more meaningful consensus control scenario, are considered for nonlinear agents. The conservatism in existing methods for OSL agents has been overcome owing to the utilization of MLFs and ADT. Simulation results for eight mobile agents are provided to show the effectiveness of our consensus protocol.
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