Intermittent-State-Constraints-Based Distributed Control for Multiagent Systems Under Asymmetric Time-Varying Input Saturation
Year: 2026
Type: article
Abstract: This paper investigates the distributed tracking control problem of nonlinear multiagent systems under asymmetric time-varying input saturation and intermittent state constraints. The term “intermittent state constraint” refers to the system state being constrained only during specific time periods, with no constraints at other times, both constrained and unconstrained time periods can be flexibly configured according to practical needs. First, by establishing a dynamic mapping relationship between the time-varying saturation bounds and the ideal control input, the issue of asymmetric time-varying input saturation is addressed. Subsequently, a new transformation function is designed to achieve flexible switching of the system states between constrained and unconstrained modes, and the transformed variables are guaranteed to remain within preset boundaries from the initial moment, thereby removing the restriction on initial values. Next, based on this transformation function, an improved full-state-dependent constraint function is developed to directly handle state constraints, without being restricted by feasibility conditions and the sign of constraint boundaries. The proposed control framework has universality and can uniformly handle various types of constraint problems (including full-state constraints, delayed full-state constraints, multi-interval output constraints, and so on) without altering the controller structure. Finally, the effectiveness of the proposed control strategy is validated through a practical simulation example.
Authors: Jiafang Du, Wen Yang, Hongjing Liang, Tieshan Li
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $2,645
Award: G2236096107
OpenAlex ID: W7171531069