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<p>This paper addresses the distributed consensus tracking scheme for the generalized one-sided Lipschitz condition (GOSL) by relaxing the requirement of quadratic-inner boundedness condition under sector-based input saturation for directed graphs. We introduce the GOSL condition which is equivalent to the traditional one-sided Lipschitz (OSL) condition and less conservative than the existing schemes. The consensus protocol ensures regional stability for the network of generalized nonlinear agents subjected to multiple input saturation constraints that is applicable for practical applications. The proposed scheme is computationally less complex and considers a wider class of nonlinear agents than the existing works. To guarantee synchronization among the nonlinear agents, design conditions in the form of gain matrices are provided. In contrast to the existing approaches for the network of fixed topologies, the proposed design conditions are extended for the regional leader-following problem under switching digraph networks. Furthermore, the proposed consensus protocol is also provided for the case of linear agents. Finally, the design consensus approach is simulated for the network of aircraft and multiple third-order Chua’s circuits to corroborate the effectiveness in different applications.</p>

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Distributed consensus control of generalized one-sided Lipschitz multiagents under sector-based actuator saturation: application to UAVs

  • 期刊论文

  • 发表日期：

    2025年6月24日

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  • Ateeq ur Rehman,
  • Peng Shi,
  • Xiaotai Wu,
  • Tingweng Huang,
  • Wenbing Zhang,
  • Chengyu Peng

摘要

This paper addresses the distributed consensus tracking scheme for the generalized one-sided Lipschitz condition (GOSL) by relaxing the requirement of quadratic-inner boundedness condition under sector-based input saturation for directed graphs. We introduce the GOSL condition which is equivalent to the traditional one-sided Lipschitz (OSL) condition and less conservative than the existing schemes. The consensus protocol ensures regional stability for the network of generalized nonlinear agents subjected to multiple input saturation constraints that is applicable for practical applications. The proposed scheme is computationally less complex and considers a wider class of nonlinear agents than the existing works. To guarantee synchronization among the nonlinear agents, design conditions in the form of gain matrices are provided. In contrast to the existing approaches for the network of fixed topologies, the proposed design conditions are extended for the regional leader-following problem under switching digraph networks. Furthermore, the proposed consensus protocol is also provided for the case of linear agents. Finally, the design consensus approach is simulated for the network of aircraft and multiple third-order Chua’s circuits to corroborate the effectiveness in different applications.