Heterogeneous linear multi-agent consensus with nonconvex input constraints and switching graphs

作     者：Li, Xue Li, Cancan Yang, Yikang 

作者机构：Univ Elect Sci & Technol China Sch Astronaut & Aeronaut Chengdu 611731 Sichuan Peoples R China Xi An Jiao Tong Univ Sch Elect & Informat Engn Xian 710049 Shaanxi Peoples R China 

出 版 物：《INFORMATION SCIENCES》 (信息科学)

年 卷 期：2019年第501卷

页      面：397-405页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Key Research and Development Program of China [2017YFC1500904, 2016YFB0501301] National 973 Program of China National Natural Science Foundation of China 

主　　题：Heterogeneous multi-agent systems Control input constraints Switching graphs Distributed algorithm 

摘      要：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. (C) 2019 The Authors. Published by Elsevier Inc.