二阶多个体系统控制受限下的无碰撞速度一致性问题-《南京师大学报（自然科学版）》

文章信息/Info

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

作者:: 史玉石¹; 朱建栋²; 陈腾²; ( 1．南京理工大学紫金学院，江苏南京210046) ( 2．南京师范大学数学科学学院，江苏南京210046)

Author(s):: Shi Yushi¹; Zhu Jiandong²; Chen Teng²; 1.Zijin College,Nanjing University of Science and Technology,Nanjing 210046,China

摘要:: 针对具有二阶积分器动态的多个体网络系统,研究了控制输入幅值受限情况下的无碰撞速度一致性问题.利用所给出的一个新的能量函数,提出了一个非线性控制协议,在一定条件下,实现了如下几点:1.每个个体的速度渐近地趋于一致;2.个体之间没有碰撞发生;3.控制输入的幅值不超过期望的界限.将已有的关于无碰撞速度一致性问题的研究成果推广到了控制输入幅值受限的情形.

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．