Consensus-based rendezvous control of double integrators via binary relative positions and velocity feedback. (10th August 2017)

• Record Type: Journal Article
• Authors: Masubuchi, Izumi; Sakaguchi, Shohei
• Is Part Of: IMA journal of mathematical control and information. Volume 35:Number 4(2018)
• Page Start: 1371
• Page End: 1389
• Publication Date: 2017-08-10
• Subjects: consensus control -- discontinuous dynamical systems -- Filippov solutions -- stability -- invariance principle; Control theory -- Periodicals; 629.831205
• DOI: 10.1093/imamci/dnx033
• Languages: English
• ISSNs: 0265-0754

Abstract

Abstract: This article considers the consensus problem for a network of agents that have double integrator dynamics. A protocol is proposed to achieve a consensus-based rendezvous of agents that depends only on the sign of the relative positions and the sign of the individual velocity. The problem is formulated in terms of differential inclusions with Filippov solutions. A detailed analysis of the Filippov set-valued map of the vector field of the closed-loop system is provided, based on which the proposed protocol is proven to attain the consensus of the agent positions with double integrator dynamics. To prove the convergence, the invariant set of the trajectories of agents is investigated based on a generalized theory of the invariance principle. Numerical examples are provided to illustrate the convergence of the agents via the proposed protocol.