发表机构
University of Cincinnati; Indian Institute of Technology Bombay（辛辛那提大学; 印度理工学院孟买分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对有向图下受物理输入约束的标量智能体，提出网络化可容许性保持控制架构，通过精确级联实现指数共识并保证安全走廊与执行器区间前向不变。
AI 中文摘要
本文研究了标量智能体的安全关键协调问题，这些智能体的分布式命令通过受约束的物理输入动力学来实现。智能体在一个具有有向生成树的固定加权有向图上进行通信，同时其输出必须保持在共同移动的安全走廊内，且其实际输入必须满足异构的不对称边界。我们提出了一种网络化可容许性保持控制（APC）架构，其中可容许性保持输入实现（APIR）管理物理输入，对数障碍坐标表示安全走廊。该综合方法产生了一个精确的级联结构，其中指数衰减的实现误差驱动非对称共识动力学。对于每个兼容的紧致初始集合，闭环系统具有唯一完整解，使移动走廊和执行器区间以均匀裕度保持前向不变，保持命令有界，并实现指数共识。我们推导了方向特定的充分条件，在这些条件下，正负控制需求保持在相应的执行器限制内。该分析得出了一个由左Perron向量和初始APIR失配决定的闭式障碍坐标极限。在强连通性以及所述增益和兼容性条件下，部分钉扎从非空知情子集传播恒定障碍参考，并指定诱导的安全走廊轨迹。一个非权重平衡的例子说明了方向性证书和预测的集体运动。
英文摘要
This paper addresses safety-critical coordination for scalar agents whose distributed commands are implemented through constrained physical-input dynamics. Agents communicate over a fixed weighted digraph with a directed spanning tree, while their outputs must remain inside a common moving safety corridor and their realized inputs must satisfy heterogeneous asymmetric bounds. We propose a networked Admissibility-Preserving Control (APC) architecture in which an Admissibility-Preserving Input Realization (APIR) governs physical inputs and a logarithmic barrier coordinate represents the safety corridor. The synthesis yields an exact cascade in which exponentially decaying realization errors drive nonsymmetric consensus dynamics. For every compatible compact initial set, the closed-loop system admits a unique complete solution, renders the moving corridor and actuator intervals forward invariant with uniform margins, keeps commands bounded, and achieves exponential consensus. We derive direction-specific sufficient conditions under which positive and negative control demands remain within their corresponding actuator limits. The analysis yields a closed-form barrier-coordinate limit determined by the left Perron vector and initial APIR mismatch. Under strong connectivity and the stated gain and compatibility conditions, partial pinning propagates a constant barrier reference from a nonempty informed subset and assigns the induced safety corridor trajectory. A non-weight-balanced example illustrates the directional certificate and predicted collective motion.
