Leader-follower Consensus of Multi-agent Systems with Saturation Nonlinearities via Delta-operator

Abstract

In this paper, we propose a leader-follower consensus control method using state feedback gains and servo compensators for multi-agent systems with saturation nonlinearities based on a discrete-time difference state space equation of the delta-operator. The consensus control method is that the leader follows reference inputs and the followers follow states of the leader without using the reference inputs. We point out that the proposed method can be recast as a convex optimization problem subject to linear matrix inequalities (LMIs) in order to increase the convergence speed of the consensus. The method includes results of continuous-time systems as a special case where the sampling period goes to zero. In this paper, we study the continuous-time and the discrete-time systems of multi-agent systems within the framework of a unified approach.