Volume 13, Issue 1 (Journal of Control, V.13, N.1 Spring 2019)                   JoC 2019, 13(1): 1-7 | Back to browse issues page

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Mirabdollahi Shams S E, Haeri M. Finite-time Flocking of Multi-agent System with Input Saturation. JoC. 2019; 13 (1) :1-7
URL: http://joc.kntu.ac.ir/article-1-480-en.html
1- Science and Research Branch, Islamic Azad University
2- Sharif University of Technology
Abstract:   (331 Views)

In this paper a finite-time flocking of multi-agent system with input saturation is investigated. By introducing a new control protocol, it is show that speed and position of agents with double-integrator dynamics converge to the speed and position of leader in finite time. It is assumed that the graph between the agents is connected and that at least one agent is informed of the leader speed and position. It is shown that the agents do not collide under this control protocol and the graph remains connected. Further, conditions are provided by which the control signal level remains less than the limiting saturation range.

Full-Text [PDF 569 kb]   (128 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2017/05/11 | Accepted: 2018/06/21

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