中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 复杂系统认知与决策实验室
  5. 先进机器人控制团队
Containment control with input and velocity constraints

文献类型：期刊论文

作者Xu, Jiahao4; Lin, Peng4; Cheng, Long1,3; Dong, Hairong2
刊名AUTOMATICA
出版日期2022-08-01
卷号142页码:7
ISSN号0005-1098
关键词Multi-agent systems Containment control Nonconvex constraints Switching graphs
DOI10.1016/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.
WOS关键词2ND-ORDER MULTIAGENT SYSTEMS ; CONNECTIVITY ; CONSENSUS ; DYNAMICS
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
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.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。