Safety control using barrier certificates for multiagent systems with input saturation and formation constraints |
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| Institution: | 1. College of Artificial Intelligence and Electrical Engineering, Guizhou Institute of Technology, and Special Key Laboratory of Artificial Intelligence and Intelligent Control of Guizhou Province, Guiyang 550003, China;2. School of Information Technology and Management, Hunan University of Finance and Economics, Changsha, 410205 China;3. College of Engineering, Tongren Polytechnic College, Tongren, China;1. School of Mathematical Sciences, University of Jinan, Jinan 250022, China;2. School of Mathematical Sciences, Qufu Normal University, Qufu 273165, China;1. College of Automation Engineering, Nanjing Univ. of Aeronautics and Astronautics, Nanjing 210016, China;2. Key Laboratory of Navigation, Control and Health-Management Technologies of Advanced Aerocraft (Nanjing Univ. of Aeronautics and Astronautics), Ministry of Industry and Information Technology, Nanjing, China;1. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China;2. University Paris-Saclay, Univ Evry, IBISC, Evry 91020, France;3. Qingdao Innovation and Development Center of Harbin Engineering University, Qingdao, Shandong 266400, China;1. School of Electrical and Control Engineering, North China University of Technology, Beijing, China;2. College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China;3. Mechatronics, Embedded Systems and Automation Lab, University of California, Merced, USA |
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| Abstract: | Maintaining the given operational area is critical in guaranteeing the safety of nonlinear second-order multiple autonomous agents. The properties of multiagent systems and several physical constraints, including bounded modeling error and actuator saturation, dramatically affect the maneuverability of multiagent systems inside the specified operational area. Moreover, the existing safety control algorithms heavily rely on the boundaries of the operational area. To overcome this issue, by constructing a novel scalable control technique, the safety area for multiagent systems can be transformed into input-constrained control barriers along each coordinate of motion for agents. It is shown that the safety of each agent and the global asymptotic stability are guaranteed under the proposed distributed control algorithm. The asymmetrical closed-form scheme for the agent's safety rule is built by applying the adjustable low and high bounds of the control signals associated with the actual control inputs, which are repeatedly computed by using new local measurements as the agents move, and the saturated control inputs with asymmetrical constraints are ensured. The absolute values of the modeling errors and external disturbances can be tracked by the proposed safety controller. Super-twisting control (STC) is employed to address the formation constraint problem of multiagent systems, where the effect that arises from uncertain nonlinear complexity of the agents and external disturbances is eliminated. Moreover, finite-time convergence, a desirable robust behavior of multiagent systems, and the formation constraint are simultaneously achieved. Furthermore, the stability of the proposed integrated control strategy for multiagent systems is analyzed, which reveals that the proposed distributed safety control can seamlessly integrate with the robust control protocol with minimum modification under the directed information interaction topology. Safety formation control calibration and tuning are carried out, and comparative simulation results are provided to illustrate the effective performance of the obtained theoretical results. |
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