For leader-following multiagent systems with input saturation, the existing protocols use a low gain feedback approach to achieve semi-global consensus. The main drawback of this approach is the ineffective utilization of the actuator potential, resulting in bad performance. To improve the transient performance of the consensus tracking, this paper proposes a gain scheduled approach for multiagent systems subject to the saturator saturations. A novel kind of scheduler-based protocols are proposed, which consists of state feedback controllers with time-varying gain and parameter schedulers. The role of the controllers is to achieve the consensus tracking, while the schedulers can accelerate this consensus progress by enlarging the gain parameter. To remove the dependence of the schedulers on global information, a minimum-value-based consensus algorithm is put forward, with idea of driving all values of agents throughout the network to their minimum value. Its implementation is guaranteed by the network-topology connectivity. Finally, our approach is further extended to the case where the leader’s control input is nonzero, time-varying, and bounded. The discontinuous protocol and its continuous approximation counterpart are designed, yielding the exact- and quasi-consensus tracking, respectively. Simulation results verify the theoretical analysis.

中文翻译：

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具有输入饱和度的线性多智能体系统共识跟踪的性能改进：增益调度方法

对于输入饱和的领导跟随多智能体系统，现有协议使用低增益反馈方法来实现半全局共识。这种方法的主要缺点是致动器潜力的无效利用，导致性能不佳。为了提高一致性跟踪的瞬态性能，本文提出了一种受饱和器饱和影响的多智能体系统的增益调度方法。提出了一种新型的基于调度器的协议，它由具有时变增益的状态反馈控制器和参数调度器组成。控制器的作用是实现共识跟踪，而调度器可以通过增大增益参数来加速这一共识进程。为了消除调度程序对全局信息的依赖，提出了一种基于最小值的共识算法，其思想是将整个网络中代理的所有值驱动到其最小值。它的实现由网络拓扑连接保证。最后，我们的方法进一步扩展到领导者的控制输入非零、时变和有界的情况。设计了不连续协议及其连续近似对应物，分别产生精确和准共识跟踪。仿真结果验证了理论分析。设计了不连续协议及其连续近似对应物，分别产生精确和准共识跟踪。仿真结果验证了理论分析。设计了不连续协议及其连续近似对应物，分别产生精确和准共识跟踪。仿真结果验证了理论分析。