Semi-Global Leader-Follower Consensus of Linear Multi-Agent System Via Time-varying Gain

Commonly, solution for consensus problem with input saturation constraints utilizes a low-gain feedback approach. However, limited work has been done on the effects of weighted coupling gain. Hence, this paper studies the effect of a time-varying coupling gain on the convergence time of leader-follower consensus on both cooperative and noncooperative leader. The input of each agent is subjected to saturation. Weighted based time-varying gain are developed and applied for cooperative leader connection and noncooperative leader connection. The weighted gain is determined by the errors between the leader and follower tracking difference calculated via computer simulation. The results show that the proposed time-varying gain algorithm reaches consensus for both cooperative and non-cooperative leaders whereas low-gain was unstable.