On consensus algorithms design for double integrator dynamics |
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| Authors: | Abdelkader Abdessameud Abdelhamid Tayebi |
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| Affiliation: | 1. College of Mathematics and Systems Science, Shandong University of Science and Technology, Qingdao, Shandong, 266590, China;2. Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, Jiangsu, 210096, China;3. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing, Jiangsu, 210023, China;1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, PR China;2. School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, PR China;1. Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran;2. The Center of Excellence on Control and Robotics, Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran |
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| Abstract: | This paper considers the consensus problem of double integrator multi-agent systems where: (i) each agent is subject to input saturations, and (ii) the velocity (second state) of each agent is not available for feedback. We present new consensus algorithms that handle simultaneously the above mentioned situations. Sufficient conditions are derived such that consensus algorithms developed for first- and second-order multi-agent systems in ideal situations can be used to account for input saturations and remove the requirement of velocity measurements. To illustrate the effectiveness of the proposed approach, we propose solutions to two different second-order consensus problems in the case where the input is saturated and the velocity states are not available for feedback and simulation results are provided in each case. |
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