Distributed containment control of multi-agent systems with velocity and acceleration saturations

Tengfei Liu; Jia Qi; Zhong Ping Jiang

doi:10.1016/j.automatica.2020.108992

Distributed containment control of multi-agent systems with velocity and acceleration saturations

Tengfei Liu, Jia Qi, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	English (US)
Article number	108992
Journal	Automatica
Volume	117
DOIs	https://doi.org/10.1016/j.automatica.2020.108992
State	Published - Jul 2020

Keywords

Acceleration constraint
Containment control
Multi-agent systems
Switched topology
Velocity constraint

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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