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

作　　者：MO Lipo YU Yongguang REN Guojian YUAN Xiaolin 

机构地区：[1]School of Mathematics and Statistics,Beijing Technology and Business University,Beijing 100048,China [2]Key Laboratory of Power Big Data of Guizhou Province,Guizhou Institute of Technology,Guiyang 550003,China. [3]Department of Mathematics,Beijing Jiaotong University,Beijing 100044,China

出　　处：《Journal of Systems Science & Complexity》2022年第1期105-122,共18页系统科学与复杂性学报（英文版）

基　　金：supported by the National Natural Science Foundation of China under Grant Nos.61973329 and 61772063。

摘　　要：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.

关 键 词：CONSENSUS CONTINUOUS-TIME heterogeneous networks nonconvex constraints TIME-DELAYS 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]