Heterogeneous consensus controller design for multi-agent saturated-input systems under switching topologies with partly unknown transition rates

This study proposes a heterogeneous consensus controller design for multi-agent saturated-input systems under switching topologies with partly unknown transition rates. This study makes three major contributions. First, multi-agent systems that consider both input saturation and switching topologies are addressed. Although both constraints can occur simultaneously, to the best of knowledge, there are no studies on consensus control for multi-agent saturated-input systems under switching topologies. Second, switching topologies with partly unknown transition rates are considered. This factor can be considered as a more realistic situation. Finally, rather than using a homogeneous consensus controller for all agents, a heterogeneous consensus controller is designed to reflect the topology information fully. The effectiveness of the proposed consensus controller is demonstrated using two numerical examples. The first example demonstrates that a heterogeneous controller derives a considerably wider region of attraction than a homogeneous controller. The second example shows that the proposed controller can stochastically reach a consensus of multi-agent systems.