Distributed adaptive anti-windup consensus tracking of networked systems with switching topologies

摘要

In reality, the input saturation is quite common when implementing a controller, which may cause failure of the control tasks. This paper investigates the distributed adaptive anti-windup protocol design for consensus tracking of second-order networked systems. It is assumed that only relative output information can be used, and meanwhile the communication topologies are switching. By modifying the edge-based distributed adaptive output protocol applicable to the case without input saturation, a novel distributed adaptive anti-windup protocol is proposed. The main feature of the protocol is that an extra internal state is introduced as the compensator, playing a fundamental role in tackling input saturation. Simulation results are also given to show the effectiveness of the proposed protocol.