Velocity-free consensus algorithms for double-integrator dynamics with input saturations constraints

Abdelkader Abdessameud, A. Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

In this paper, we propose and analyze consensus algorithms for double-integrator dynamics. Specifically, we consider the case where the velocity (second state) is not available for feedback and the control inputs are constrained by input saturations. Two different design methods are proposed. First, we propose a consensus algorithm that extends some of the existing results in the literature to account for actuator saturations and the lack of velocity measurement. The proposed velocity-free control scheme, based on the auxiliary system approach, achieves consensus among the team members with an a priori bounded control law, whose upper bound depends on the number of neighbors of the vehicle. Second, we propose another approach based on the use of a high order dynamic auxiliary system such that the upper bound of the control law is independent of the number of neighbors of the vehicle, and the performance of the closed loop system is improved in terms of the response damping. Finally, simulation results are provided to illustrate the effectiveness of the proposed algorithms.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages4486-4491
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period12/15/1012/17/10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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    Abdessameud, A., & Tayebi, A. (2010). Velocity-free consensus algorithms for double-integrator dynamics with input saturations constraints. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 4486-4491). [5717590] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2010.5717590