Consensus of Second-Order Multiagent Systems With Both Velocity and Input Constraints Academic Article

abstract

• 1982-2012 IEEE. This paper considers consensus control of second-order multiagent systems subject to both velocity and input constraints under general directed communication graphs. A new class of distributed consensus controller is proposed, which is shown that under proper initial velocity conditions, consensus can be achieved, while both the velocity and input constraints are satisfied during the consensus process. The proposed controller can be designed without relying on global information about the communication graph such as the eigenvalues of the Laplacian matrix. Extensions to dynamic formation control and leader-following consensus with both velocity and input constraints are also presented based on the consensus controller. Furthermore, the sampled-data leader-following case is also investigated when the communication rate is constrained. Simulations on the outer-loop coordination control of multiple quadrotors are used to illustrate the effectiveness of the proposed controllers.

authors

• Huang, Tingwen

published proceedings

• IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

author list (cited authors)

• Fu, J., Wen, G., Yu, W., Huang, T., & Yu, X.

citation count

• 55

complete list of authors

• Fu, Junjie||Wen, Guanghui||Yu, Wenwu||Huang, Tingwen||Yu, Xinghuo

publication date

• October 2019

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Consensus
• Directed Graph
• Input Constraint
• Multiagent System
• Velocity Constraint

Digital Object Identifier (DOI)

• 10.1109/TIE.2018.2879292

start page

• 7946

end page

• 7955

volume

• 66

issue

• 10

URL

• http://dx.doi.org/10.1109/tie.2018.2879292