Asynchronous Impulsive Protocols With Asymmetric Feedback Saturation on Leader-Based Formation Control of Multiagent Systems
研究了多智能体系统在异步脉冲协议下，通过非对称饱和反馈实现领航者编队控制的问题，考虑了时变时延，并引入偏移量提升性能，通过优化估计了可行区域。
Saturation phenomena often exist due to limited system resources, and impulsive protocols can lead to a reduction in communication cost. From these issues, this article investigates a leader-based formation control problem of multiagent systems via asynchronous impulsive protocols with saturated feedback. General linear system models with and without finite time-varying time delays under asymmetric saturated feedback control are concurrently considered. The asynchronous impulsive protocols only permit communication at impulsive instants and each agent has its own communication instants independently. Moreover, to improve system performance, an offset only containing desired formation information is introduced. Finally, because the feedbacks are saturated, admissible regions are proved to exist, which are also estimated by a mean of optimization. Numerical simulations are presented to demonstrate the validity of the proposed schemes.