- 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
- Reviewed
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