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《南京师大学报（自然科学版）》[ISSN:1001-4616/CN:32-1239/N]

Issue:

2011年04期

Page:

33-38

Research Field:

数学

Publishing date:

Info

Title:

Velocity Consensus of Second-Order Multi-Agent Systems With Collision Avoidance and Control Limitation

Author(s):

Shi Yushi¹; Zhu Jiandong²; Chen Teng²

1.Zijin College,Nanjing University of Science and Technology,Nanjing 210046,China

Keywords:

second-order dynamics; collision avoidance; control limitation; velocity consensus

PACS:

O231

DOI:

-

Abstract:

In this paper，for multi-agent systems with the second-order integrator dynamics，the velocity consensus problem with collision avoidance and amplitude constraint of control is investigated． Using a new energy function，a nonlinear control protocol is proposed． Under some conditions，the following three points are achieved: ( i) all the agents’velocity vectors reach agreement asymptotically; ( ii) there is no collision among the agents; ( iii) the amplitude of control input is bounded by an expected value． These contributions generalize the results on consensus to the case of constrained control．

References:

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Memo

Memo:

-

Common functions

Last Update: 2013-03-21