Consensus Control of Linear Multiagent Systems Under Actuator Imperfection: When Saturation Meets Fault
研究线性多智能体系统在执行器饱和与故障并存时的一致性控制问题，提出两步抗饱和方法，先设计容错控制器，再优化参数扩大吸引域，仿真验证了有效性。
This article is concerned with the consensus control problem for a general class of linear multiagent systems (MASs) subject to actuator imperfection consisting of both actuator saturations and actuator faults. A novel two-step saturation-resistant approach is proposed to attenuate the side effects resulting from the actuator imperfection. In the first step of controller design, the state information received from the neighboring agents is used to design a consensus controller capable of tolerating the actuator fault. Then, in the second step of controller optimization, the domain of attraction (DOA) is introduced for MASs to evaluate the performance of the controller and, subsequently, optimize the controller parameters to enlarge the DOA in terms of solutions to a certain set of matrix inequalities. Finally, simulation examples are provided to demonstrate the effectiveness of the developed saturation-resistant approach.