Abstract
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.
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This work is supported by the National Natural Science Foundation of China under Grant Nos. 61973329 and 61772063.
This paper was recommended for publication by Editor CAO Ming.
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Mo, L., Yu, Y., Ren, G. et al. Constrained Consensus of Continuous-Time Heterogeneous Multi-Agent Networks with Nonconvex Constraints and Delays. J Syst Sci Complex 35, 105–122 (2022). https://doi.org/10.1007/s11424-021-0092-6
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DOI: https://doi.org/10.1007/s11424-021-0092-6