# Robust consensus control of second-order uncertain multiagent systems with velocity and input constraints (extended version)

## TL;DR

This paper presents robust consensus algorithms for second-order multiagent systems with velocity and input constraints, addressing uncertainties and measurement limitations, and demonstrates their effectiveness through theoretical proofs and simulations.

## Contribution

It introduces novel robust consensus control methods that handle velocity and input constraints, uncertainties, and measurement issues in directed multiagent systems.

## Key findings

- Velocity and input constraints are maintained within preset bounds.
- Asymptotic consensus is achieved using Lyapunov-based methods.
- The algorithms are validated through simulations with various constraints.

## Abstract

In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent uncertainties, and lack of neighboring velocity measurements are proposed. Furthermore, we show that the proposed method can be applied to the consensus control of uncertain robotic manipulators with velocity and control torque constraints. We rigorously prove that the velocity and control inputs stay within prespecified ranges by tuning design parameters a priori and that asymptotic consensus can be achieved through Lyapunov functions and fixed-time stability. Simulations are performed for symmetric and asymmetric constraints to show the efficiency of the theoretical findings.