Bounded control for preserving connectivity of multi-agent systems using the constraint function approach

Author(s): Y. Fan ; G. Feng ; Q. Gao
DOI: 10.1049/iet-cta.2011.0479

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Author(s): Y. Fan ¹ ; G. Feng ² ; Q. Gao ¹
- Affiliations: 1: School of Electrical Engineering and Automation, Anhui University, Hefei, People’s Republic of China
  2: Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong
Source: Volume 6, Issue 11, 19 July 2012, p. 1752 – 1757
DOI: 10.1049/iet-cta.2011.0479 , Print ISSN 1751-8644, Online ISSN 1751-8652

In multi-agent control systems, coordination of agents often relies critically on the connectivity of the underlying communication network. This study analyses the problem of preserving connectivity with bounded control inputs for multi-agent systems. Firstly, a general potential-based control framework is investigated and sufficient conditions for achieving rendezvous while preserving connectivity are presented. Then, based on the modification of the potential-based control, a novel bounded control law with very mild design requirements is proposed and the issues of preserving connectivity, the agent group rendezvous, and the input bound of the controller are discussed. The effectiveness of the proposed control law and the boundedness of the inputs are illustrated by numerical examples.

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Bounded control for preserving connectivity of multi-agent systems using the constraint function approach

Bounded control for preserving connectivity of multi-agent systems using the constraint function approach

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