NDLI: Consensus of second-order multi-agents with actuator saturation and asynchronous time-delays

Content Provider	IET Digital Library
Author	Yanumula, Venkata Karteek Kar, Indrani Majhi, Somanath
Abstract	This study presents the consensus of a saturated second-order multi-agent system with non-switching dynamics that can be represented by a directed graph. The system is affected by data processing (input delay) and communication time-delays that are assumed to be asynchronous. The agents have saturation non-linearities, each of them is approximated into separate linear and non-linear elements. Non-linear elements are represented by describing functions. Describing functions and stability of linear elements are used to estimate the existence of limit cycles in the system with multiple control laws. Stability analysis of the linear element is performed using Lyapunov–Krasovskii functions and frequency domain analysis. A comparison of pros and cons of both the analyses with respect to time-delay ranges, applicability and computation complexity is presented. Simulation and corresponding hardware implementation results are demonstrated to support theoretical results.
Starting Page	3201
Ending Page	3210
Page Count	10
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 17, Nov (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/17
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0578
Journal	IET Control Theory & Applications
Publisher Date	2017-09-04
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuator Saturation Applicability Complexity Approximation Theory Asynchronous Time-delays Combinatorial Mathematics Communication Time-delays Computation Complexity Computational Complexity Control Nonlinearities Data Processing Delay Directed Graph Distributed Parameter Control System Frequency Domain Analysis Input Delay Interpolation And Function Approximation Limit Cycles Linear Element Lyapunov Method Lyapunov-Krasovskii Function Mobile Robots Multi-robot System Multiple Control Law Nonlinear Control System Nonlinear Element Nonswitching Dynamics Numerical Analysis Saturated Second-order Multiagent System Saturation Nonlinearities Stability Stability Analysis Stability in Control Theory Time-delay Ranges
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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