Nonconvex Constrained Consensus of Discrete-Time Heterogeneous Multi-Agent Systems with Arbitrarily Switching Topologies  

作　　者：Honghao Wu 

机构地区：[1]Yancheng Agricultural College,Yancheng 224051,Jiangsu Province,China

出　　处：《Journal of Electronic Research and Application》2025年第1期14-22,共9页电子研究与应用

基　　金：2024 Jiangsu Province Youth Science and Technology Talent Support Project;2024 Yancheng Key Research and Development Plan(Social Development)projects,“Research and Application of Multi Agent Offline Distributed Trust Perception Virtual Wireless Sensor Network Algorithm”and“Research and Application of a New Type of Fishery Ship Safety Production Monitoring Equipment”。

摘　　要：This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.

关 键 词：HETEROGENEOUS Multi-agent systems Nonconvex constraint CONSENSUS 

分 类 号：O22[理学—运筹学与控制论]