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Safe Consensus Tracking With Guaranteed Full State and Input Constraints: A Control Barrier Function-Based Approach | IEEE Journals & Magazine | IEEE Xplore

Safe Consensus Tracking With Guaranteed Full State and Input Constraints: A Control Barrier Function-Based Approach

Publisher: IEEE

Abstract:

In this article, we consider the safe consensus tracking problem for uncertain second-order nonlinear multiagent systems subject to position, velocity, and input constrai...View more

Abstract:

In this article, we consider the safe consensus tracking problem for uncertain second-order nonlinear multiagent systems subject to position, velocity, and input constraints. The agents are required to cooperatively track a desired leader's trajectory while always satisfying their local state and input constraints. Therefore, conflicting objectives may exist for an agent when the desired trajectory violates its local constraints. We propose to solve this problem using a control barrier function (CBF)-based approach. The cooperative tracking objective is encoded by a novel control Lyapunov function-based condition while the state and input constraints are handled by CBF-based constraints. For the relative degree two position constraint, two classes of CBF-based conditions are proposed based on high-order CBFs and a modified CBF design, respectively. It is proven that, with the modified CBF, there always exist feasible control inputs that satisfy all the CBF-based constraints. Then, unified quadratic programming-based controllers are formulated and the performances are analyzed. Simulation examples are provided to verify the obtained results.
Published in: IEEE Transactions on Automatic Control ( Volume: 68, Issue: 12, December 2023)
Page(s): 8075 - 8081
Date of Publication: 07 June 2023

ISSN Information:

Publisher: IEEE

Funding Agency:


I. Introduction

Due to the rapid development of sensing, communication, and computation technologies, multiagent system has seen increasing use in various fields, such as environmental sensing, cooperative transportation, target tracking, and so on [1]. Among the various cooperative control tasks of the multiagent systems, consensus tracking plays a fundamental role as many other tasks, such as formation, containment, and encirclement, can be solved based on the consensus tracking controllers [2]. Many important results have been obtained for consensus tracking of multiagent systems handling different agent dynamics, communication graphs, and convergence speed requirement [3], [4].

References

References is not available for this document.