Constrained Consensus of Continuous-Time Heterogeneous Multi-Agent Networks with Nonconvex Constraints and Delays

• 作者: MO Lipo YU Yongguang REN Guojian YUAN Xiaolin
• 来源期刊: 系统科学与复杂性学报（英文版）
• 年，卷（期）: 2022,（1）
• 页码范围: 105-122
• 页数: 18页
• 语种: 英文
• DOI: 10.1007/s11424-021-0092-6

摘要

This paper studies the continuous-time constrained consensus of heterogeneous multi-agent networks with nonconvex input and velocity constraints,where each agent's dynamic is modeled by a first-order or second-order integrator,the communication delays are assumed to be time-varying,nonuniform,bounded and the communication graph is changing over time.An improved distributed control algorithm with time-varying gains is proposed and the heterogeneous consensus is changed into the homogeneous consensus by a coordination transformation.Then,it is proved that the constrained consensus can be reached by analyzing six connection cases between agents if the joint graph has a directed spanning tree over each bounded interval.Finally,simulations are done to show the correctness of the theorem.