This paper considers consensus control of second-order multiagent systems subject to both velocity and input constraints under general directed communication graphs. A new class of distributed consensus controller is proposed, which is shown that under proper initial velocity conditions, consensus can be achieved, while both the velocity and input constraints are satisfied during the consensus process. The proposed controller can be designed without relying on global information about the communication graph such as the eigenvalues of the Laplacian matrix. Extensions to dynamic formation control and leader-following consensus with both velocity and input constraints are also presented based on the consensus controller. Furthermore, the sampled-data leader-following case is also investigated when the communication rate is constrained. Simulations on the outer-loop coordination control of multiple quadrotors are used to illustrate the effectiveness of the proposed controllers.

中文翻译：

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具有速度和输入约束的二阶多智能体系统的共识


本文考虑了一般有向通信图下受速度和输入约束的二阶多智能体系统的共识控制。提出了一类新的分布式共识控制器，结果表明，在适当的初始速度条件下，可以达成共识，同时在共识过程中满足速度和输入约束。所提出的控制器可以在不依赖于通信图的全局信息（例如拉普拉斯矩阵的特征值）的情况下进行设计。基于共识控制器，还提出了动态编队控制和具有速度和输入约束的领导者跟随共识的扩展。此外，当通信速率受到限制时，还研究了采样数据引导者跟随的情况。通过对多个四旋翼飞行器的外环协调控制进行仿真来说明所提出的控制器的有效性。