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.

中文翻译：

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具有相对输出信息的二阶多智能体系统的速度和输入约束协调


在这项工作中，我们考虑受速度和输入约束且仅具有相对输出信息的二阶多智能体系统的协调控制。首先，考虑无领导共识问题，提出了一种非线性分布式控制器，仅使用局部速度和相对输出信息即可实现代理的渐近共识。然后，研究了已知领导者输入的领导者跟随编队控制的推广。针对领导者输入未知的情况，利用滑模控制思想，提出了一种基于有限时间观测器的控制器。最后，通过采用控制屏障函数来处理先导跟随编队控制的防撞要求。通过正确地表述一些二次问题来获得对标称编队控制器的必要修改，并且在整个操作期间满足速度和输入约束。提供了几个仿真示例来说明所开发的控制器和防撞策略的有效性。