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- W2916745039 abstract "This paper proposes a metamorphic adaptive low-gain feedback approach to investigate the semi-global robust tracking consensus problem of multi-agent uncertain systems with input saturation under a directed communication topology. The main contribution is to develop a new robust tracking consensus low-gain feedback algorithm, in which the feedback gain design does not rely on eigenstructure assignment algorithm and the solution of a parametric Algebraic Riccati Equation (ARE). By introducing appropriate assumptions, a class of metamorphic adaptive low-gain feedback protocols is designed based on the limited states information among neighbors. It is proved, in the sense of Lyapunov, that the robust tracking consensus problem for closed-loop multi-agent uncertain systems with input saturation and directed communication topology can be solved. Furthermore, the results are extended to the semi-global robust tracking consensus problem of nonlinear multi-agent uncertain systems with nonlinear input saturation under a jointly connected directed communication topology. Finally, two examples are presented to demonstrate the effectiveness of the proposed theories. ," @default.
- W2916745039 created "2019-03-02" @default.
- W2916745039 creator A5005626770 @default.
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- W2916745039 date "2019-05-01" @default.
- W2916745039 modified "2023-10-17" @default.
- W2916745039 title "Semi-global robust tracking consensus for multi-agent uncertain systems with input saturation via metamorphic low-gain feedback" @default.
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- W2916745039 doi "https://doi.org/10.1016/j.automatica.2019.02.002" @default.
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