Velocity and Input Constrained Coordination of Second-Order Multi-Agent Systems with Relative Output Information

In this work, we consider the coordination control of second-order multi-agent systems subject to both velocity and input constraints with only relative output information. First, the leaderless consensus problem is considered where a nonlinear distributed controller is proposed which achieves asymptotic consensus of the agents using only local velocity and relative output information. Then, generalization to the leader-following formation control with known leader's input is studied. For the case of unknown leader's input, a finite-time observer-based controller is proposed using sliding mode control ideas. Finally, the collision avoidance requirement for the leader-following formation control is handled by employing control barrier functions. Necessary modifications to the nominal formation controllers are obtained by properly formulating some quadratic problems and the velocity and input constraints are met during the entire operation. Several simulation examples are provided to illustrate the developed controllers and the effectiveness of the collision avoidance strategy.