Distributed Consensus of Second-Order Multiagent Systems With Nonconvex Velocity and Control Input Constraints

被引：102
|
作者：
Lin, Peng [1 ]
Ren, Wei [2 ]
Yang, Chunhua [1 ]
Gui, Weihua [1 ]
机构：
[1] Cent S Univ, Sch Informat Sci & Engn, Changsha 410083, Hunan, Peoples R China
[2] Univ Calif Riverside, Dept Elect & Comp Engn, Riverside, CA 92521 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2018年 / 63卷 / 04期
基金：
美国国家科学基金会; 中国国家自然科学基金;
关键词：
Communication delays; control input constraints; multiagent systems; velocity constraints; LEADER-FOLLOWING CONSENSUS; SATURATION CONSTRAINTS; NETWORKS; DELAYS;
D O I：
10.1109/TAC.2017.2742140
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is devoted to a distributed consensus problem for second-order multiagent systems with nonconvex velocity and control input constraints. A distributed control algorithm is introduced using local information. It is shown that consensus can be achieved as long as the union of the communication graphs has directed spanning trees among each time interval of certain bounded length in the presence of arbitrarily bounded communication delays. Finally, a numerical example is included to illustrate the theoretical results.
引用
收藏
页码：1171 / 1176
页数：6
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