2019³â Ãß°èÇмú´ëȸ
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
ÀÔ·Â Æ÷ȸ¦ °®´Â 2Â÷ ´ÙÁß ¿¡ÀÌÀüÆ® ½Ã½ºÅÛµéÀ» À§ÇÑ PI ±â¹Ý ÀÏÄ¡ Á¦¾î |
¿µ¹®Á¦¸ñ(English Title) |
PI-based Consensus Control for Second-Order Multi-Agent Systems with Input Saturations |
ÀúÀÚ(Author) |
ÀÓ¿µÈÆ
À̱¤¼®
Young-hun Lim
Gwang-Seok Lee
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¿ø¹®¼ö·Ïó(Citation) |
VOL 23 NO. 02 PP. 0208 ~ 02011 (2019. 10) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®¿¡¼´Â ÀÔ·Â Æ÷ȸ¦ °®´Â 2Â÷ ´ÙÁß ¿¡ÀÌÀüÆ® ½Ã½ºÅÛÀÇ ÀÏÄ¡ Á¦¾î¸¦ À§ÇÏ¿© PI Á¦¾î ¾Ë°í¸®ÁòÀ» ±â¹ÝÀ¸·Î ºÐ»ê Á¦¾î ¾Ë°í¸®ÁòÀ» Á¦¾ÈÇÑ´Ù. ÀÔ·Â Æ÷ÈÀÇ Á¸Àç·Î ÀÎÇÏ¿© ¿¡ÀÌÀüÆ® ½Ã½ºÅÛÀº ºñ¼±Çü¼ºÀ» Æ÷ÇÔÇÏ°Ô µÈ´Ù. ÀÌ·¯ÇÑ ºñ¼±Çü¼ºÀ» °í·ÁÇÑ Çؼ®À» À§ÇØ ÀûºÐ ÇüÅÂÀÇ ¸®¾ÆÇÁ³ëÇÁ ÇÔ¼ö¸¦ Àû¿ëÇÏ¿´°í, ¸®¾ÆÇÁ³ëÇÁ ¾ÈÁ¤¼º ÀÌ·ÐÀ» ±â¹ÝÀ¸·Î ÀÏÄ¡¸¦ ´Þ¼ºÇϱâ À§ÇÑ Á¦¾î À̵æÀÇ Á¶°ÇÀ» ºÐ¼®ÇÏ¿´´Ù. ¸¶Áö¸·À¸·Î ½Ã¹Ä·¹À̼ÇÀ» ÅëÇÏ¿© Á¦¾ÈµÈ Á¦¾î±âÀÇ À¯È¿¼ºÀ» Æò°¡ÇÏ¿´´Ù. |
¿µ¹®³»¿ë (English Abstract) |
This paper proposes the distributed PI-based consensus algorithm for second-order multi-agent systems with input saturations. Due to the existence of the input saturations, the agent systems contain a nonlinearity. Then, we apply the integral-type Lyapunov function to handle the nonlinearity and analyze the conditions of control gains to achieve the consensus based on the Lyapunov stability theory. Finally, a numerical example is given to evaluate the effectiveness of the proposed algorithm. |
Å°¿öµå(Keyword) |
Consensus
multi-agent system
input saturation
distributed PI algorithm
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