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

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 10; pp. 7946 - 7955
• Main Authors: Fu, Junjie, Wen, Guanghui, Yu, Wenwu, Huang, Tingwen, Yu, Xinghuo
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Communication; Consensus; Constraints; Control systems design; Controllers; Decentralized control; directed graph; Eigenvalues; Eigenvalues and eigenfunctions; Heuristic algorithms; input constraint; Laplace equations; Multi-agent systems; multiagent system; Multiagent systems; Rotary wing aircraft; Vehicle dynamics; Velocity; velocity constraint
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2018.2879292

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.