Distributed PI Control for Consensus of Heterogeneous Multiagent Systems Over Directed Graphs

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 50; no. 4; pp. 1602 - 1609
• Main Authors: Lv, Yuezu, Li, Zhongkui, Duan, Zhisheng
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Consensus; Control systems; distributed control; Eigenvalues and eigenfunctions; Graph theory; Graphs; heterogeneous multiagent systems; Laplace equations; Linear systems; Multi-agent systems; Multiagent systems; Protocols; robustness; Topology; Vehicle dynamics
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2018.2792472

This paper considers the consensus control problem of heterogeneous linear multiagent systems. A distributed proportional-integral (PI) protocol is presented to ensure consensus of heterogeneous linear multiagent systems with directed communication graphs. Sufficient conditions for the choice of control parameters are derived. For the case that the agents are subject to the external time-varying but bounded disturbances, the proposed distributed PI protocol can assure uniformly ultimate boundedness of the consensus error. The effectiveness of the results is illustrated both theoretically and numerically.