【摘 要】
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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
【机 构】
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School of Mathematics and Statistics,Beijing Technology and Business University,Beijing 100048,China
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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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