Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents over Switching Topologies and Input Saturation

Muhammad Ahsan Razaq; Muhammad Rehan; Muhammad Tufail; Choon Ki Ahn

doi:10.1109/TCSII.2020.2986009

Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents over Switching Topologies and Input Saturation

Muhammad Ahsan Razaq, Muhammad Rehan, Muhammad Tufail, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

40 Citations (Scopus)

Abstract

This brief investigates the leader-based consensus of one-sided Lipschitz (OSL) multi-agents under switching graphs and input saturation. By using the local design approach and multiple Lyapunov functions (MLFs), a novel condition for the consensus in nonlinear agents is provided by accomplishing guaranteed local stability. The notion of the average dwell time (ADT) has been applied for dealing with the switching topologies, which relaxes the classical dwell time restriction for switching instances. In contrast to the classical methods, both input saturation and switching topologies, representing a complicated and more meaningful consensus control scenario, are considered for nonlinear agents. The conservatism in existing methods for OSL agents has been overcome owing to the utilization of MLFs and ADT. Simulation results for eight mobile agents are provided to show the effectiveness of our consensus protocol.

Original language	English
Article number	9060888
Pages (from-to)	3267-3271
Number of pages	5
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	67
Issue number	12
DOIs	https://doi.org/10.1109/TCSII.2020.2986009
Publication status	Published - 2020 Dec

Bibliographical note

Funding Information:
This work was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449.

Publisher Copyright:
© 2004-2012 IEEE.

Keywords

Leader-following consensus
input saturation
multi-agents
one-sided Lipschitz systems
switching topology

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/TCSII.2020.2986009

Cite this

Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents over Switching Topologies and Input Saturation. / Razaq, Muhammad Ahsan; Rehan, Muhammad; Tufail, Muhammad et al.
In: IEEE Transactions on Circuits and Systems II: Express Briefs, Vol. 67, No. 12, 9060888, 12.2020, p. 3267-3271.

Research output: Contribution to journal › Article › peer-review

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abstract = "This brief investigates the leader-based consensus of one-sided Lipschitz (OSL) multi-agents under switching graphs and input saturation. By using the local design approach and multiple Lyapunov functions (MLFs), a novel condition for the consensus in nonlinear agents is provided by accomplishing guaranteed local stability. The notion of the average dwell time (ADT) has been applied for dealing with the switching topologies, which relaxes the classical dwell time restriction for switching instances. In contrast to the classical methods, both input saturation and switching topologies, representing a complicated and more meaningful consensus control scenario, are considered for nonlinear agents. The conservatism in existing methods for OSL agents has been overcome owing to the utilization of MLFs and ADT. Simulation results for eight mobile agents are provided to show the effectiveness of our consensus protocol. ",

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Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents over Switching Topologies and Input Saturation

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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