Consensus algorithms for double-integrator dynamics with different velocity and actuator saturation constraints

This paper considers consensus strategy design for double-integrator multi-agent systems with matched disturbances under a directed graph. Specifically, we consider the case where both the control inputs and velocities of the agents are subject to different and asymmetric constraints. A novel distri...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 170; p. 111860
Main Authors Wang, Gang, Zuo, Zongyu
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.12.2024
Subjects
Consensus
Directed graph
Multi-agent system
Velocity constraint
Velocity constraint
Multi-agent system
Consensus
Directed graph
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ISSN0005-1098
DOI10.1016/j.automatica.2024.111860

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Summary:This paper considers consensus strategy design for double-integrator multi-agent systems with matched disturbances under a directed graph. Specifically, we consider the case where both the control inputs and velocities of the agents are subject to different and asymmetric constraints. A novel distributed algorithm exploiting saturation functions is proposed to achieve asymptotic consensus without violating the predefined velocity and actuator saturation constraints. Subsequently, we extend the obtained results to event-triggered communication, where agent position broadcasting occurs only when specific triggering conditions are met. We rigorously prove that there exists a positive minimum inter-event time to rule out Zeno behavior. Finally, the simulation results confirm the theoretical findings and illustrate the achievable performance.
ISSN:0005-1098
DOI:10.1016/j.automatica.2024.111860