Abstract
This paper mainly focuses on the nonconvex constrained consensus problem of heterogeneous multi-agent systems under the case of coexistence of velocity and input constraints. By utilizing contraction operator, a novel distributed control law is proposed. Under some mild conditions, it is shown that all agents can reach an agreement on their position states while the velocities of second-order agents and inputs of all agents can stay in their corresponding nonconvex constrained sets. At last, the correctness of theoretical results is verified by simulations.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Moreau L (2005) Stability of multi-agent systems with time-dependent communication links. IEEE Trans Autom Control 50(2):169–182
Jia Y (2003) Alternative proofs for improved LMI representations for the analysis and the design of continuous-time systems with polytopic type uncertainty: a predictive approach. IEEE Trans Autom Control 48(8):1413–1416
Ren W, Beard R (2005) Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans Autom Control 50(5):655–661
Lin P, Jia Y (2009) Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies. Automatica 45(9):2154–2158
Lin P, Ren W, Song Y (2016) Distributed multi-agent optimization subject to nonidentical constraints and communication delays. Automatica 65:120–131
Zhao L, Yu J, Lin C (2017) Distributed adaptive fixed-time consensus tracking for second-order multi-agent systems using modified terminal sliding mode. Appl Math Comput 312:23–35
Zhang B, Jia Y (2017) Task-space synchronization of networked mechanical systems with uncertain parameters and communication delays. IEEE Trans Cybern 47(8):2288–2298
Mo L, Guo S (2019) Consensus of linear multi-agent systems with persistent disturbances via distributed output feedback. J Syst Sci Complex 32(3):835–845
Lin P, Ren W, Wang H, Al-Saggaf UM (2019) Multiagent rendezvous with shortest distance to convex regions with empty intersection: algorithms and experiments. IEEE Trans Cybern 49(3):1026–1034
Jia Y (2000) Robust control with decoupling performance for steering and traction of 4WS vehicles under velocity-varying motion. IEEE Trans Control Syst Technol 8(3):554–569
Nedić A, Ozdaglar A, Parrilo PA (2010) Constrained consensus and optimization in multi-agent networks. IEEE Trans Autom Control 55(4):922–938
Lin P, Ren W (2014) Constrained consensus in unbalanced networks with communication delays. IEEE Trans Autom Control 59(3):775–781
Lin P, Ren W, Farrell JA (2017) Distributed continuous-time optimization: nonuniform gradient gains, finite-time convergence, and convex constraint set. IEEE Trans Autom Control 62(5):2239–2253
Lin P, Ren W (2017) Distributed \(H_\infty \) constrained consensus problem. Syst Control Lett 104:45–48
Lin P, Ren W, Gao H (2017) Distributed velocity-constrained consensus of discrete-time multi-agent systems with nonconvex constraints, switching topologies, and delays. IEEE Trans Autom Control 62(11):5788–5794
Lin P, Ren W, Yang C et al (2019) Distributed optimization with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. IEEE Trans Autom Control 64(6):2575–2582
Mo L, Lin P (2018) Distributed consensus of second-order multiagent systems with nonconvex input constraints. Int J Robust Nonlinear Control 28(11):3657–3664
Lin P, Ren W, Yang C et al (2018) Distributed consensus of second-order multiagent systems with nonconvex velocity and control input constraints. IEEE Trans Autom Control 63(4):1171–1176
Zheng Y, Zhu Y, Wang L (2011) Consensus of heterogeneous multi-agent systems. IET Control Theory Appl 5(16):1881–1888
Feng Y, Xu S, Lewis F, Zhang B (2015) Consensus of heterogeneous first- and second-order multi-agent systems with directed communication topologies. Int J Robust Nonlinear Control 25(3):362–375
Mo L, Niu G, Pan T (2015) Consensus of heterogeneous multi-agent systems with switching jointly-connected interconnection. Phys A 427:132–140
Lin P, Ren W, Yang C, Gui W (2019) Distributed optimization with nonconvex velocity constraints, nonuniform position constraints, and nonuniform stepsizes. IEEE Trans Autom Control 64(6):2575–2582
Guo S, Mo L, Yu Y (2018) Mean-square consensus of heterogeneous multi-agent systems with communication noises. J Franklin Inst 355:3717–3736
Mo L, Guo S, Yu Y (2018) Mean-square consensus of heterogeneous multi-agent systems with nonconvex constraints, Markovian switching topologies and delays. Neurocomputing 291:167–174
Huang H, Mo L, Cao X (2019) Nonconvex constrained consensus of discrete-time heterogeneous multi-agent systems with arbitrarily switching topologies. IEEE Access 7:38157–38161
Godsil C, Royle G (2001) Algebraic Graph Theory. Springer, New York
Acknowledgments
This work was supported by the National Natural Science Foundation of China (No. 61973329), the Beijing Educational Committee Foundation (No. KM201910011007, PXM2019 014213 000007) and the Beijing Natural Science Foundation (No. Z180005).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Mo, L., Cheng, J., Cao, X. (2020). Consensus of Discrete-Time Heterogenous Multi-agent Systems with Nonconvex Velocity and Input Constraints. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 592. Springer, Singapore. https://doi.org/10.1007/978-981-32-9682-4_11
Download citation
DOI: https://doi.org/10.1007/978-981-32-9682-4_11
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9681-7
Online ISBN: 978-981-32-9682-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)