On global leader-following consensus of identical linear dynamic systems subject to actuator saturation

Meng, Ziyang; Zhao, Zhicong; Lin, Zongli

doi:10.1016/j.sysconle.2012.10.016

Cited by 257 publications

(161 citation statements)

References 25 publications

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“…As a result, even if a control law designed for single integrators has been proved to be convergent, the constraints may undermine the convergence of the control law when applied in practice and consequently cause potential safety risks. Motivated by this, many researchers have studied multi-robot coordination control with motion constraints such as nonholonomic dynamics [1], [2], velocity saturation [3], [4], and obstacle avoidance [5]- [7]. However, when motion constraints are considered, the coordination control systems are usually highly nonlinear and very challenging to analyze.…”

Section: Introductionmentioning

confidence: 99%

Defend the practicality of single-integrator models in multi-robot coordination control

Zhao

Sun

2017

2017 13th IEEE International Conference on Control &Amp; Automation (ICCA)

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Abstract-Single-integrator models have been widely used to model robot kinematics in multi-robot coordination control problems. However, it is also widely believed that this model is too simple to lead to practically useful control laws. In this paper, we prove that if a gradient-descent distributed control law designed for single integrators has been proved to be convergent for a given coordination task, then the control law can be readily modified to adapt for various motion constraints including velocity saturation, obstacle avoidance, and nonholonomic models. This result is valid for a wide range of coordination tasks. It defends the practical usefulness of many existing coordination control laws designed based on single-integrator models and suggests a new methodology to design coordination control laws subject motion constraints.

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Section: Introductionmentioning

confidence: 99%

Defend the practicality of single-integrator models in multi-robot coordination control

Zhao

Sun

2017

2017 13th IEEE International Conference on Control &Amp; Automation (ICCA)

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“…Here we list some representative examples of such constraints. For example, [5] studies global consensus for discrete-time multi-agent systems with input saturation constraint; [6] considers the leader-following consensus problem for multi-agent systems subject to input saturation; [7] and [8] investigate necessary and sufficient initial conditions for achieving consensus in the presence of output saturation.…”

Section: Introductionmentioning

confidence: 99%

Event-triggered control for multi-agent systems with output saturation

Yang

et al. 2017

2017 36th Chinese Control Conference (CCC)

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We propose distributed static and dynamic event-triggered control laws to solve the consensus problem for multiagent systems with output saturation. Under the condition that the underlying graph is undirected and connected, we show that consensus is achieved under both event-triggered control laws if and only if the average of the initial states is within the saturation level. Numerical simulations are provided to illustrate the effectiveness of the theoretical results and to show that the control laws lead to reduced need for inter-agent communications.

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“…If not handled properly, these constraints may undermine the system convergence and cause unpredictable system behaviors. Motivated by this, many researchers have studied distributed coordination control subject to various motion constraints such as nonholonomic constraints [1]- [11], velocity saturation [4], [8], [11]- [13], and obstacle avoidance [3], [4], [6], [10], [14], [15]. However, most of the existing approaches are merely applicable to unicycle agents moving in the plane and they are usually restricted to certain specific types of coordination tasks or motion constraints.…”

Section: Introductionmentioning

confidence: 99%

A General Approach to Coordination Control of Mobile Agents With Motion Constraints

Zhao

Dimarogonas

Sun

et al. 2018

IEEE Trans. Automat. Contr.

106

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Abstract-This paper proposes a general approach to design convergent coordination control laws for multi-agent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multi-agent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.

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On global leader-following consensus of identical linear dynamic systems subject to actuator saturation

Cited by 257 publications

References 25 publications

Defend the practicality of single-integrator models in multi-robot coordination control

Defend the practicality of single-integrator models in multi-robot coordination control

Event-triggered control for multi-agent systems with output saturation

A General Approach to Coordination Control of Mobile Agents With Motion Constraints

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