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Within the multiagent systems framework, the relative states between neighbors can be acquired by some on-board sensors, and then the relative state saturations inevitably occur due to the limited sensing capabilities. This paper investigates the consensus problem of nonlinear multiagent systems subject to the relative state saturations. Utilizing the incidence matrix and the edge Laplacian, the consensus problem of nonlinear multiagent systems with the relative state saturations can be cast into the stabilization problem of edge dynamics operating on the constrained set. Three types of protocols, namely continuous, intermittent, and adaptive state feedback protocols are, respectively, proposed for achieving the constrained consensus, and meanwhile yielding consensus values. A consensus analysis is provided by virtue of state saturation theory, switched system theory, adaptive theory, and Lyapunov stability theory. Output feedback protocol is also designed. Finally, the obtained results are applied to connectivity preservation for first-order nonlinear multiagent systems, despite the presence of limited communication range and input constraints. The theoretical results are validated by two simulation examples. [ABSTRACT FROM AUTHOR]

The consensus tracking problem is discussed for a class of multi-agent systems (MASs) in non-affine pure-feedback form via output feedback approach under switching directed topologies. Observers are employed to reconstruct state information of the system, and then a consensus tracking control scheme is presented by the backstepping method combining with dynamic surface control (DSC) technique, neural networks (NNs), and graph theory. The main advantage of the proposed strategy is that it only relies on the output signals of individual agents in communication graph and it removes the requirement for exact priori knowledge about parameters of agents. Moreover, by introducing DSC technology, it avoids the well known problem of ‘explosion of complexity’ that conventional backstepping method suffers from along with the increasement of the degree of individual agents. It is proven that the designed output feedback control scheme guarantees consensus errors are cooperatively semiglobally uniformly ultimately bounded and converge to neighborhood of the origin by suitable choice of design parameters. Simulation results are presented to demonstrate the effectiveness of the proposed control approach. [ABSTRACT FROM AUTHOR]

Within the framework of multiagent systems, relative information can be directly acquired by vehicle-mounted sensors and the relative information constraints inevitably occur due to limited sensing capabilities. This paper investigates observer-based consensus of nonlinear multiagent systems subject to relative state estimate constraints. Each agent’s state is constructed via a state observer, and the relative state estimate is assumed to be confined into a hypercube. In virtue of the edge Laplacian, the consensus problem of nonlinear multiagent systems under this constraint is converted into the stabilization problem of edge dynamics operating on the constrained set. Observer-based intermittent protocol and adaptive protocol are, respectively, designed for achieving consensus. A convergence analysis is provided with the help of state saturation theory, switched system theory and adaptive theory. Finally, the results on consensus with relate state estimate constraints are applied into the consensus problem while preserving the connectedness, and are validated by a simulation example. [ABSTRACT FROM AUTHOR]