TY - JOUR
T1 - Consensus tracking control for nonlinear second-order multi-agent systems with input magnitude and rate constraints
AU - Liu, Weimin
AU - Ji, Ning
AU - Xu, Feng
AU - Zhao, Yandong
AU - Xia, Yuanqing
AU - Liu, Jinkun
N1 - Publisher Copyright:
© The Author(s) 2024.
PY - 2025/6
Y1 - 2025/6
N2 - In this study, consensus tracking control is considered for a class of nonlinear second-order multi-agent systems in an undirected communication topology subject to input magnitude and rate constraints (MRCs). Initially, the control inputs are designed directly using the smooth hyperbolic tangent function. Subsequently, some auxiliary signals are developed to guarantee input rate constraints simultaneously. By employing the backstepping method, the proposed control scheme can ensure uniform ultimate boundedness of the closed-loop system, and the consensus tracking error of each agent can converge to a small neighborhood near zero. Finally, the single-link robot manipulator multi-agent system model is used to perform numerical simulations to demonstrate the control effect further.
AB - In this study, consensus tracking control is considered for a class of nonlinear second-order multi-agent systems in an undirected communication topology subject to input magnitude and rate constraints (MRCs). Initially, the control inputs are designed directly using the smooth hyperbolic tangent function. Subsequently, some auxiliary signals are developed to guarantee input rate constraints simultaneously. By employing the backstepping method, the proposed control scheme can ensure uniform ultimate boundedness of the closed-loop system, and the consensus tracking error of each agent can converge to a small neighborhood near zero. Finally, the single-link robot manipulator multi-agent system model is used to perform numerical simulations to demonstrate the control effect further.
KW - backstepping method
KW - consensus tracking control
KW - input magnitude and rate constraints (MRCs)
KW - Nonlinear second-order multi-agent systems
KW - undirected communication topology
UR - https://www.scopus.com/pages/publications/85204364597
U2 - 10.1177/01423312241269761
DO - 10.1177/01423312241269761
M3 - Article
AN - SCOPUS:85204364597
SN - 0142-3312
VL - 47
SP - 1849
EP - 1858
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
IS - 9
ER -