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Semi-global Leaderless Consensus of Circular Motion with Input Saturation

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Intelligent Robotics and Applications (ICIRA 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10984))

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Abstract

In this paper, a control algorithm is proposed for a group of agents moving in a circular pattern. Each individual in the system is subjected to the input saturation. Then based on the low gain feedback technique, the leaderless semi-global consensus can be achieved if the dynamics of each agent is asymptotically null controllable with bounded controls, and the topology satisfies the connectivity conditions. The effectiveness of proposed control algorithm is verified through both theoretical analysis and numerical simulation results.

Supported by the Guangdong Innovative and Entrepreneurial Research Team Program under Grant No. 2014ZT05G304, and the National Natural Science Foundation of China under Grant No. U1713203 and No. 61673189.

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Authors and Affiliations

  1. Guangdong HUST Industrial Technology Research Institute, Dongguan, 523000, China

    Bowen Xu, Haofei Meng, Duxin Chen & Hai-Tao Zhang

  2. Key Laboratory of Image Processing and Intelligent Control, School of Automation, State Key Laboratory of Digital Manufacturing Equipments and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China

    Bowen Xu, Haofei Meng, Duxin Chen & Hai-Tao Zhang

Authors
  1. Bowen Xu
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  2. Haofei Meng
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  3. Duxin Chen
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  4. Hai-Tao Zhang
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Corresponding author

Correspondence to Hai-Tao Zhang .

Editor information

Editors and Affiliations

  1. University of Newcastle, Callaghan, New South Wales, Australia

    Zhiyong Chen

  2. University of Newcastle, Callaghan, New South Wales, Australia

    Alexandre Mendes

  3. University of Newcastle, Callaghan, New South Wales, Australia

    Yamin Yan

  4. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Shifeng Chen

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Xu, B., Meng, H., Chen, D., Zhang, HT. (2018). Semi-global Leaderless Consensus of Circular Motion with Input Saturation. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_2

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  • DOI: https://doi.org/10.1007/978-3-319-97586-3_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97585-6

  • Online ISBN: 978-3-319-97586-3

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