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On consensus algorithms design for double integrator dynamics. (English) Zbl 1257.93002
Summary: This paper considers the consensus problem of double integrator multi-agent systems where: (i) each agent is subject to input saturations, and (ii) the velocity (second state) of each agent is not available for feedback. We present new consensus algorithms that handle simultaneously the above mentioned situations. Sufficient conditions are derived such that consensus algorithms developed for first- and second-order multi-agent systems in ideal situations can be used to account for input saturations and remove the requirement of velocity measurements. To illustrate the effectiveness of the proposed approach, we propose solutions to two different second-order consensus problems in the case where the input is saturated and the velocity states are not available for feedback.

MSC:
93A14 Decentralized systems
68T42 Agent technology and artificial intelligence
93C15 Control/observation systems governed by ordinary differential equations
93B52 Feedback control
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