This paper studies the consensus problem for heterogeneous multi-agent systems with output saturations. We consider the agents to have different dynamics and assume that the agents are neutrally stable and that the communication graph is undirected. The goal of this paper is to achieve the consensus for leaderless and leader-following cases. To solve this problem, we propose the observer-based distributed consensus algorithms, which consists of three parts: the nonlinear observer, the reference generator, and the regulator. Then, we analyze the consensus based on the Lasalle’s Invariance Principle and the input-to-state stability. Finally, we provide numerical examples to demonstrate the validity of the proposed algorithms.

Observer-Based Consensus Control for Heterogeneous Multi-Agent Systems with Output Saturations

Multi-agent systems (MAS) are a class of systems in which multiple agents interact with each other and their environment to achieve a common or individual goal [...]

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Special Issue on Multi-Agent Systems

DC motor speed synchronization is a critical problem in industrial and robotic applications. To tackle this problem, we propose to use a multi-agent consensus-based control scheme that guarantees the convergence of the DC motor speeds to either fixed or time-varying reference. A detailed robustness analysis considering parametric uncertainty and time delay in the multi-agent system is performed to guarantee the consensus on the speed of DC motors in actual practice. The results obtained concerning the robustness analysis allowed us to implement experimental tests on a three-motor system using a wireless communication system to achieve satisfactory performance.

https://www.mdpi.com/2076-3417/10/18/6521/pdf

Daniel Olivares

Papers

Robustness Analysis for Multi-Agent Consensus Systems with Application to DC Motor Synchronization