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In this paper, we investigate the consensus problem of second-ordermultiagent systems under directed graphs. Simple yet robust consensusalgorithms that advance existing achievements in accounting for velocity andinput constraints, agent uncertainties, and lack of neighboring velocitymeasurements are proposed. Furthermore, we show that the proposed method can beapplied to the consensus control of uncertain robotic manipulators withvelocity and control torque constraints. We rigorously prove that the velocityand control inputs stay within prespecified ranges by tuning design parametersa priori and that asymptotic consensus can be achieved through Lyapunovfunctions and fixed-time stability. Simulations are performed for symmetric andasymmetric constraints to show the efficiency of the theoretical findings.

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