Consensus With Output Saturations

Output feedback control with input saturations :

This paper addresses the control of linear systems with input saturations. We seek a controller that guarantees for the closed loop system: (i) stability for a given polytope of initial conditions, (ii) a prescribed weak L 2 gain attenuation between inputs and outputs of interest. Two approaches are proposed based on: (i) ensuring that the controller never saturates: the obtained controller is ...

Asymptotic Stabilization of Delayed Systems with Input and Output Saturations

Output Consensus Control of Nonlinear Non-minimum Phase Multi-agent Systems Using Output Redefinition Method

This paper concerns the problem of output consensus in nonlinear non-minimum phase systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, an output redefinition method is proposed. The new outputs of agents are functions of original outputs and internal states and defined such that the dynamics of agents a...

Dynamic output feedback compensation for linear systems with independent amplitude and rate saturations

The positive real lemma provides the basis for constructing linear output feedback dynamic compensators for multi-input plants with independent amplitude saturations. Fixed-structure techniques are used to obtain fulland reduced-order feedback compensators along with a guaranteed domain of attraction. These results are then applied to the problem of rate saturation. By using a feedback-type mod...

Optimal Output Consensus Control and Outlier Detection

In this paper we study the output consensus problem for systems of agents with linear continuous time invariant dynamics, and derive control laws that minimize a conical combination of the energies of the agents control signals, while only using local information. We show that the optimal control requires the connectivity graph to be complete and in general requires measurements of the state er...