Output-Constrained Control of Nonaffine Multiagent Systems with Partially Unknown Control Directions
Abstract
In this paper, an output-constrained control algorithm is presented for the consensus control of a class of unknown nonaffine multiagent systems (MASs) with partially unknown control directions. Our contribution includes a step forward beyond the usual consensus stabilization result to show that the outputs of agents remain within user-defined time-varying constraints. To achieve the new results, an error transformation technique is established to generate an equivalent MAS from the original one. Stabilization and consensus of the transformed agent states ensure both the satisfaction of the time-varying constraints and the consensus of the original agent states. Based on the Nussbaum gain technique, the unknown control direction problem is solved. By the Lyapunov synthesis, the asymptotic consensus result, and the satisfaction of the output constraints are theoretically proved, along with all the closed-loop signals being bounded. Additionally, the developed consensus controller is distributed since each agent only exchanges information with its neighbors. Finally, simulations on a nonaffine MAS demonstrate the effectiveness of the proposed control scheme.
Recommended Citation
B. Fan et al., "Output-Constrained Control of Nonaffine Multiagent Systems with Partially Unknown Control Directions," IEEE Transactions on Automatic Control, vol. 64, no. 9, pp. 3936 - 3942, article no. 8610197, Institute of Electrical and Electronics Engineers, Sep 2019.
The definitive version is available at https://doi.org/10.1109/TAC.2019.2892391
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
Keywords and Phrases
Consensus control; Multiagent system (MAS); Nonaffine system; Time-varying constraints; Unknown control direction
International Standard Serial Number (ISSN)
1558-2523; 0018-9286
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Sep 2019
Comments
National Natural Science Foundation of China, Grant 61673347