A Novel Distributed Controller Design for Robust Global Coordination of MASs with Heterogeneous Saturation
Abstract
Dear Editor, This letter addresses the challenge of achieving robust global coordination in multi-agent systems (MASs) subject to heterogeneous actuator saturation and additive input disturbances. We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection. With this novel method, by carefully selecting both constant and time-varying saturation parameters in the redesigned saturation function and the high-gain parameter, global coordination can be achieved decoupled with the initial state of each agent and the communication topology of the MAS. Numerical examples demonstrate the effectiveness of the theoretical results.
Fields of Study & Subjects
Distributed Control Multi-Agent Systems
Adaptive Dynamic Programming Control
Adaptive Control of Nonlinear Systems
Publication details
- Journal / source
- IEEE/CAA Journal of Automatica Sinica
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 13
- Issue
- 1
- Pages
- 230–232
- Publication date
- 1 January 2026