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Consensus of a group of multiple integrator agents using bounded control

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3 Author(s)
Zhiyun Zhao ; Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China ; Zongli Lin ; Ziyang Meng

This paper studies global leader-following consensus of a group of networked multi-integrator systems subject to control input saturation. A weighted nonlinear state feedback control law is proposed to solve this problem. Both the case of a fixed undirected communication topology and the case of a switching undirected communication topology are considered. We show that leader-following consensus can be achieved by using the proposed control laws when the communication topology is connected or jointly connected. Simulation results are given to illustrate the theoretical results.

Published in:

Control Conference (CCC), 2012 31st Chinese

Date of Conference:

25-27 July 2012