Shuzhen Yu, Zhiyong Yu, Haijun Jiang, Xuehui Mei, Observer-based distributed consensus for multi-agent systems with directed networks and input saturation, Neurocomputing, Volume 420, 2021, Pages 111-123.

文章目錄

• 1. Introduction
• 2. Preliminaries
• 6. Numerical example

1. Introduction

2. Preliminaries

$$\begin{array}{rl}{\dot{x}}_i(t)& =A{x}_i(t)+B\bar{\sigma }(u_i(t))\\ y_i(t)& =C{x}_i(t)\end{array}\text{\hspace{1em}(1)}$$

$$\begin{array}{rl}\bar{\sigma }(u_i)& =[\text{sat}(u_{i1}),\text{sat}(u_{i2}),?,\text{sat}(u_{im}){]}^{\text{T}}\\ \text{sat}(u_{ij})& =\text{sign}(u_{ij})\min \{|u_{ij}|,?\}\end{array}$$

$$\begin{array}{rl}{\dot{\hat{x}}}_i(t)& =A{\hat{x}}_i(t)+B{u}_i(t)?K(y_i(t)?C{\hat{x}}_i(t))\\ u_i(t)& =?B^{\text{T}}P(?)[\sum _{j\in N_i}{a}_{ij}({\hat{x}}_i(t)?{\hat{x}}_j(t))]\end{array}\text{\hspace{1em}(2)}$$

6. Numerical example

Example 1.

Example 2.

替換了 $P(0.3)$ 參數矩陣后：

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