On consensus algorithms design for double integrator dynamics

被引：154
作者：
Abdessameud, Abdelkader [1 ]
Tayebi, Abdelhamid [1 ,2 ]
机构：
[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 3K7, Canada
[2] Lakehead Univ, Dept Elect Engn, Thunder Bay, ON P7B 5E1, Canada
来源：
AUTOMATICA | 2013年 / 49卷 / 01期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Consensus; Cooperative control; Input saturation; Partial state feedback; SWITCHING TOPOLOGY; COMMUNICATION DELAYS; 2ND-ORDER CONSENSUS; COOPERATIVE CONTROL; MULTIAGENT SYSTEMS; AGENTS; SYNCHRONIZATION; COORDINATION; NETWORKS;
D O I：
10.1016/j.automatica.2012.08.044
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 considers the consensus problem of double integrator multi-agent systems where: (i) each agent is subject to input saturations, and (ii) the velocity (second state) of each agent is not available for feedback. We present new consensus algorithms that handle simultaneously the above mentioned situations. Sufficient conditions are derived such that consensus algorithms developed for first- and second-order multi-agent systems in ideal situations can be used to account for input saturations and remove the requirement of velocity measurements. To illustrate the effectiveness of the proposed approach, we propose solutions to two different second-order consensus problems in the case where the input is saturated and the velocity states are not available for feedback and simulation results are provided in each case. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：253 / 260
页数：8
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