Investigation on Consensus for Multi-agent Systems with Saturation Constraints
Qingling Wang (Harbin Institute of Technology)
SYSTEMS AND CONTROL SERIESDATE: 2013-12-18
TIME: 11:10:00 - 12:00:00
LOCATION: NICTA - 7 London Circuit
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ABSTRACT:
Distributed consensus coordination of multi-agent systems has been received many attractions due to its applications in such areas as distributed sensor networks, formation control, UAVs (unmanned aerial vehicles) in aerospace, astronautics and industrial process. However, the algorithms designed by control theory and applied on physical systems generally cannot satisfy expected performance, and sometimes cannot guarantee consensus. One possible reason is the difference between the theoretical model and the practical model. But another important reason is that saturation constraints are not fully investigated when designing the consensus algorithms for the practical model of multi-agent systems. As a result, consensus algorithms designed by theoretical models are limited to apply on the practical plant. Therefore, motivated by the fact that physical actuator is always subject to saturation constraints, consensus analysis and design in multi-agent systems have attracted many researchers, and a lot of works have been done in this cutting-edge research topics in the field of multi-agent systems in recent years. Based on the study of previous works, we systematically and deeply investigate consensus for continuous- and discrete- time multi-agent systems with saturation constraints in a unified leader-follower framework. A new design and analysis method to deal with first-order, high-order and linear agents with saturation constraints is proposed under undirected and directed topologies, and part of the developed theories is applied to the attitude coordinated tracking of multiple spacecraft with control input saturation.
BIO:
Qingling Wang was born in Henan, China. He received B.S. and M.S. degrees in the School of Information Science and Engineering, Central South University, and now is a Ph.D. candidate in the School of Astronautics, Harbin Institute of Technology, China. He is currently an exchange student in Australian National University for two years. His research interests include multi-agent consensus and constrained control.
