Consensus for double-integrator dynamics with velocity constraints

  • Tales A. Jesus
  • Luciano C. A. Pimenta
  • Leonardo A. B. Tôrres
  • Eduardo M. A. M. Mendes
Regular Papers Control Theory


The problem of consensus for double-integrator dynamics with velocity constraints and a constant group reference velocity is addressed such that: (i) the control law of an agent does not depend on the local neighbors’ velocities or accelerations, but only on the neighbors’ positions and on the own agent velocity; (ii) the constraints are non-symmetric; (iii) the class of nonlinear functions used to account for the velocity constraints is more general than the ones that are normally considered in the literature. We propose a decentralized control strategy with the neighboring topology described by an undirected interaction graph that is connected. Mathematical guarantees of convergence without violating the constraints are given. A numerical experiment is provided to illustrate the effectiveness of our approach.


Consensus multi-agent systems second-order dynamics velocity constraints 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Tales A. Jesus
    • 1
  • Luciano C. A. Pimenta
    • 2
  • Leonardo A. B. Tôrres
    • 2
  • Eduardo M. A. M. Mendes
    • 2
  1. 1.Computation DepartmentCentro Federal de Educação Tecnológica de Minas GeraisBelo HorizonteBrazil
  2. 2.School of EngineeringUniversidade Federal de Minas GeraisBelo HorizonteBrazil

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