Heterogeneous linear multi-agent consensus with nonconvex input constraints and switching graphs
Heterogeneous linear multi-agent consensus with nonconvex input constraints and switching graphs
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DOI：
10.1016/j.ins.2019.06.013
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发表时间：
2019-10
期刊：
影响因子：
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通讯作者：
Xue Li;Cancan Li;Yikang Yang
中科院分区：
文献类型：
--
作者：
Xue Li;Cancan Li;Yikang Yang
研究了具有非凸输入约束和切换图的异构线性多智能体系统的约束一致性问题。提出了一种具有时变增益的分布式控制算法，以保证每个智能体的控制输入保持在一个非凸集内，使所有智能体达到一个公共点。通过非负矩阵的方法，得到了系统一致的充分条件。结果表明，只要通信图的并集包含生成树，则所有的智能体都能达成共识。最后，通过仿真验证了该算法的有效性。
This study focuses on a constrained consensus problem of heterogeneous linear multi-agent systems with nonconvex input constraints and switching graphs. A distributed control algorithm with the time-varying gain is presented to ensure the control input of each agent to stay in a nonconvex set and make all agents reach to a common point. Through the method of nonnegative matrices, we obtain the sufficient conditions for the consensus of the system. It is shown that all agents can reach a consensus as long as the union of communication graphs contains spanning trees. Finally, simulations are provided to show the effectiveness of the proposed algorithm.