Containment control with input and velocity constraints

doi:10.1016/j.automatica.2022.110417

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Containment control with input and velocity constraints
	Xu, Jiahao 4; Lin, Peng 4; Cheng, Long 1,3; Dong, Hairong 2
刊名	AUTOMATICA
	2022-08-01
卷号	142 页码:7
关键词	Multi-agent systems Containment control Nonconvex constraints Switching graphs
ISSN号	0005-1098
DOI	10.1016/j.automatica.2022.110417
通讯作者	Lin, Peng(lin_peng@csu.edu.cn)
英文摘要	In this paper, containment control for double-integrator discrete-time multi-agent systems is investigated with switching graphs, nonconvex input constraints and nonconvex velocity constraints. In order to eliminate the nonlinearities caused by the nonconvex input and velocity constraints, we first introduce two time-varying scaling factors to transform the original constrained system into an unconstrained time-varying linear one. By proposing an inductive method based on the lower bounds of the scaling factors, we decouple the relevance of the two kinds of constraints and transform the obtained time-varying system into a new equivalent system. It is shown that all agents converge into the convex hull of the leaders even when switching graphs, nonconvex control input constraints and nonconvex velocity constraints coexist, as long as there exists at least one directed path from one of the leaders to each agent in the union of the communication graphs. Finally, a simulation example is given to illustrate the obtained theoretical results. (C) 2022 Elsevier Ltd. All rights reserved.
资助项目	National Natural Science Foundation of China[61925302] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[61790572] ; National Natural Science Foundation of China[61790573] ; National Natural Science Foundation of China[U1913209]
WOS关键词	2ND-ORDER MULTIAGENT SYSTEMS ; CONNECTIVITY ; CONSENSUS ; DYNAMICS
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000833419800009
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49836]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Lin, Peng
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Beijing Jiaotong Univ, State Key Lab Rail Traff Control & Safety, Beijing 100044, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Cent South Univ, Sch Automat, Changsha 410083, Peoples R China
推荐引用方式 GB/T 7714	Xu, Jiahao,Lin, Peng,Cheng, Long,et al. Containment control with input and velocity constraints[J]. AUTOMATICA,2022,142:7.
APA	Xu, Jiahao,Lin, Peng,Cheng, Long,&Dong, Hairong.(2022).Containment control with input and velocity constraints.AUTOMATICA,142,7.
MLA	Xu, Jiahao,et al."Containment control with input and velocity constraints".AUTOMATICA 142(2022):7.