Abstract
This paper is devoted to the consensus problem of single-integrator agents with state constraints. The state of agents under consideration is subject to saturation nonlinearities. Some necessary and sufficient conditions of consensus with state constraints are first proposed based on investigating the unique achievable equilibrium and employing an integral Lyapunov function. With the proposed necessary and sufficient condition, the consensus problem of single-integrator agents can be solved under an undirected and connected graph. In addition, some properties of the unachievable consensus are discussed. Finally, simulation examples are given to show the validity of the theoretical results.
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Acknowledgements
This work was partially supported by the National Natural Science Foundation of China (61503079), the Jiangsu Natural Science Foundation (BK20150625), the Fundamental Research Funds for the Central Universities, and a project funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions.
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Wang, Q. (2017). Consensus of Multi-agent Systems with State Constraints. In: Sun, X., Chao, HC., You, X., Bertino, E. (eds) Cloud Computing and Security. ICCCS 2017. Lecture Notes in Computer Science(), vol 10602. Springer, Cham. https://doi.org/10.1007/978-3-319-68505-2_48
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DOI: https://doi.org/10.1007/978-3-319-68505-2_48
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