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

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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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Authors and Affiliations

  1. School of Mathematics and Statistics, Beijing Technology and Business University, Beijing, 100048, China

    Lipo Mo

  2. Key Laboratory of Power Big Data of Guizhou Province, Guizhou Institute of Technology, Guiyang, 550003, China

    Lipo Mo

  3. Department of Mathematics, Beijing Jiaotong University, Beijing, 100044, China

    Yongguang Yu, Guojian Ren & Xiaolin Yuan

Authors
  1. Lipo Mo
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  2. Yongguang Yu
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  3. Guojian Ren
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  4. Xiaolin Yuan
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Corresponding author

Correspondence to Lipo Mo.

Additional information

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

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