Distributed Containment Control of Multi-Agent Systems with Velocity and Acceleration Saturations

被引：0
|
作者：
Liu, Tengfei [1 ]
Qi, Jia [1 ]
Jiang, Zhong-Ping [2 ]
机构：
[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China
[2] NYU, Tandon Sch Engn, MetroTech Ctr 6, Brooklyn, NY 11201 USA
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
关键词：
Containment control; multi-agent systems; velocity constraint; acceleration constraint; switched topology; DYNAMIC LEADERS; COORDINATION; NETWORK;
D O I：
10.23919/chicc.2019.8865298
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 studies the problem of distributed containment control for multi-agent systems modeled by double-integrators. A new class of rotation-free distributed containment controllers with successive saturated loops is proposed for the challenging situation where the velocity and acceleration of each agent are required to stay within their desired ranges. It is proved that the objective of containment control is achievable if the parameters of the controllers satisfy a mild condition. Moreover, the desired ranges of the accelerations and the velocities are allowed to be very small, and the interconnection topology is allowed to be directed and switched.
引用
收藏
页码：6136 / 6141
页数：6
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