Observer‐based leader‐following consensus of one‐sided Lipschitz multi‐agent systems over input saturation and directed graphs

Abstract

AbstractThis paper investigates a local observer‐based leader‐following consensus control of one‐sided Lipschitz (OSL) multi‐agent systems (MASs) under input saturation. The proposed consensus control scheme has been formulated by using the OSL property, input saturation, directed graphs, estimated states, and quadratic inner‐boundedness condition by attaining the regional stability. It is assumed that the graph always includes a (directed) spanning tree with respect to the leader root to develop matrix inequalities for investigating parameters of the proposed observer and consensus protocols. Further, a new observer‐based consensus tracking method for MASs with saturation, concerning independent topologies for communicating outputs and estimates over the network, is explored to deal with a more perplexing and realistic situation. In contrast to the traditional methods, the proposed consensus approach considers output feedback and deals with the input saturation for a generalized class of nonlinear systems. The efficiency of the obtained results is illustrated via application to a group of five moving agents in the Cartesian coordinates.