Flocking of Multi-Agent Systems with Nonuniform and Nonconvex Input Constraints

Title: Flocking of Multi-Agent Systems with Nonuniform and Nonconvex Input Constraints
Creator: Huang, Yi; Fang, Wentuo; Chen, Zhiyong; Li, Yonggang; Yang, Chunhua
Relation: IEEE Transactions on Automatic Control Vol. 68, Issue 7, p. 4329-4335
Publisher Link: http://dx.doi.org/10.1109/tac.2022.3206117
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2022
Description: This article investigates the nonuniform and nonconvex input-constrained flocking control problem of continuous-time multiagent systems. A distributed flocking control algorithm is proposed for each agent using the local information from its neighbor agents subject to nonuniform and nonconvex control constraints. Based on a constraint scaling factor and a specific coordinate transformation, a Lyapunov function is constructed to address the nonlinearities caused by input constraints. It is proved that all agents from an explicitly specified region of initial states eventually converge to a common point with the same velocity, while each agent's inputs remain within its own constrained nonconvex set. A simulation example is given to demonstrate the effectiveness of the theoretical results.
Subject: flocking control; input constraints; imultiagent systems; inonconvex constraints
Identifier: http://hdl.handle.net/1959.13/1493232
Identifier: uon:53511
Identifier: ISSN:0018-9286
Language: eng
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