Abstract:

For input-delayed mechanical system with input amplitude constraints, the consensus control problem of multi-agent system (MAS) based on directed graph topology is studied. For scenarios where only some agents can receive the desired signal, an observer is proposed to enable each agent to observe the desired signal, with exponential convergence of the observation error being proven. In the controller design, the system's input integral is fed back to the controller to eliminate the effects of input delay. By combining the input integral method with the hyperbolic tangent function, the input amplitude is limited while addressing the input delay issue. The FMINCON function is used to optimize the control parameters. Finally, the Lyapunov method is utilized to prove the achievement of control objectives and the asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed observer and controller in achieving system consensus control.

Key words: multi-agent system (MAS), directed graph, input constraint, input delay, consensus control