On consensus algorithms design for double integrator dynamics

Authors:
Abdelkader Abdessameud;Abdelhamid Tayebi
Affiliations:
Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario, Canada N6A 3K7;Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario, Canada N6A 3K7 and Department of Electrical Engineering, Lakehead University, Thunder Bay, Ontari ...
Venue:
Automatica (Journal of IFAC)
Year:
2013

Citing 3
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Abstract

This paper considers the consensus problem of double integrator multi-agent systems where: (i) each agent is subject to input saturations, and (ii) the velocity (second state) of each agent is not available for feedback. We present new consensus algorithms that handle simultaneously the above mentioned situations. Sufficient conditions are derived such that consensus algorithms developed for first- and second-order multi-agent systems in ideal situations can be used to account for input saturations and remove the requirement of velocity measurements. To illustrate the effectiveness of the proposed approach, we propose solutions to two different second-order consensus problems in the case where the input is saturated and the velocity states are not available for feedback and simulation results are provided in each case.