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

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Automatica Pub Date : 2024-08-21 DOI:10.1016/j.automatica.2024.111860

引用次数: 0

Abstract

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.

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具有不同速度和致动器饱和度约束的双积分器动力学共识算法

本文考虑了有向图下具有匹配干扰的双积分器多代理系统的共识策略设计。具体来说，我们考虑了代理的控制输入和速度都受到不同和不对称约束的情况。我们提出了一种利用饱和函数的新型分布式算法，以在不违反预定速度和执行器饱和约束的情况下达成渐近共识。随后，我们将获得的结果扩展到事件触发通信，即只有在满足特定触发条件时，才会发生代理位置广播。我们严格证明，存在一个正的最小事件间时间，以排除芝诺行为。最后，模拟结果证实了理论结论，并说明了可实现的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.

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