Dai J, Guo G. A leader-following consensus of multi-agent systems with actuator saturation and semi-Markov switching topologies.
MATHEMATICAL BIOSCIENCES AND ENGINEERING : MBE 2024;
21:4908-4926. [PMID:
38872520 DOI:
10.3934/mbe.2024217]
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Abstract
The leader-following consensus (LFC) issue is investigated in this paper for multi-agent systems (MASs) subject to actuator saturation with semi-Markov switching topologies (SMST). A new consensus protocol is proposed by using a semi-Markov process to model the switching of network topologies. Compared to the traditional Markov switching topologies, the SMST is more general and practical because the transition rates are time-varying. By using the local sector conditions and a suitable Lyapunov-Krasovskii functional, some sufficient conditions are proposed such that the leaderfollowing mean-square consensus is locally achieved. Based on the derived sufficient conditions, an optimization problem is analyzed to determine the consensus feedback gains and to find a maximal estimate of the domain of consensus attraction (DOCA) of a closed-loop model. At the end, a numerical case is presented to verify the performance of the design method.
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