Flocking of Multiagent Systems With Nonuniform and Nonconvex Input Constraints

• 成果类型: Article
• 署名作者: Huang, Yi; Fang, Wentuo; Chen, Zhiyong; Li, Yonggang; Yang, Chunhua
• 署名单位: Central South University; Inspur; University of Newcastle
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3206117
• 发表日期: 2023
• 页码: 4329-4335
• 关键词: Flocking control; Input constraints; multiagent systems; nonconvex constraints

摘要

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.