Consensus design with guaranteed cost for generic linear multi-agent systems subject to control input constraints

摘要

This paper investigates the guaranteed cost consensus design problem for generic high-order multi-agent systems subject to control input constraints. Firstly, an intermittent consensus control protocol is constructed with intermittent local information, where the related weighted quadratic cost index is considered to trade off the consensus performance against the energy expenditure while achieving consensus. The guaranteed cost consensus analysis criterion is given by using linear matrix inequality methods. Meanwhile, a guaranteed cost is derived to show the upper bound of the cost index. Then, by the changing variable approach, the guaranteed-cost design criterion is presented. It is proved that multi-agent systems with control input constraints realize guaranteed cost consensus via designing the control gain of the consensus control protocol with the related cost index. Finally, a numerical simulation is provided to verified the effectiveness of the derived theoretical results.