Volume 13, Issue 1 (Journal of Control, V.13, N.1 Spring 2019)
JoC 2019, 13(1): 1-7 |
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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
URL: http://joc.kntu.ac.ir/article-1-480-en.html
1- Science and Research Branch, Islamic Azad University
2- Sharif University of Technology
2- Sharif University of Technology
Abstract: (6257 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.
Type of Article: Research paper |
Subject:
Special
Received: 2017/05/11 | Accepted: 2018/06/21 | Published: 2019/07/15
Received: 2017/05/11 | Accepted: 2018/06/21 | Published: 2019/07/15
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