LMI-based H∞ boundary practical consensus control for nonlinear multi-agent systems with actuator saturation

• Published in: ISA transactions Vol. 135; pp. 261 - 271
• Main Authors: Zhong, Jiaqi, Feng, Yan, Zeng, Cheng
• Format: Journal Article
• Language: English
• Published: United States Elsevier Ltd 01.04.2023
• Subjects: [formula omitted] norm; Actuator saturation; Boundary control; Nonlinear multi-agent systems; Practical consensus; Boundary control; Nonlinear multi-agent systems; H∞ norm; Practical consensus; Actuator saturation; norm
• ISSN: 0019-0578; 1879-2022; 1879-2022
• DOI: 10.1016/j.isatra.2022.09.024

This paper mainly addresses the practical consensus problem of nonlinear multi-agent systems modeled by reaction–diffusion equations subject to the bounded external disturbances. Different from the existing consensus control methods associated with spatiotemporal dynamics, the proposed H∞ Neumann boundary controller based on distributed measurement data can guarantee the optimal disturbance attenuation performance under the actuator saturation. Initially, a consensus spatiotemporal error model is constructed by introducing the Kronecker product and equivalent directed graph. Subsequently, a linear matrix inequalities (LMIs)-based sufficient condition is derived by combining the improved Lyapunov-based approach and H∞ norm. Then, an optimization problem is proposed by applying invariant set, such that the consensus errors can converge to a minimized bounded region in the presence of actuator saturation. Finally, comparison simulations on the synchronization of FitzHugh–Nagumo (FHN) model are given to demonstrate the effectiveness of proposed methodology. •This paper addresses the problem of practical consensus with spatiotemporal dynamics.•The multi-agent system is modeled by a nonlinear reaction–diffusion equation.•An H∞ boundary consensus control is proposed to suppress the external disturbances.•The controller needs a fewer actuators than ones distributed inner spatial domain.•The controller gives a tradeoff between optimal performances and actuator saturation.