Consensus problem for continuous-time multiagent systems with nonconvex control input and velocity constraints

被引：6
|
作者：
Duan, Mengmeng [1 ]
Lin, Peng [1 ]
Yang, Chunhua [1 ]
机构：
[1] Cent South Univ, Sch Automat, Changsha 410083, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2020年 / 30卷 / 14期
基金：
中国国家自然科学基金;
关键词：
constrained consensus; multiagent systems; nonconvex constraints; switching topologies; DOUBLE-INTEGRATOR DYNAMICS; DISTRIBUTED CONSENSUS; ALGORITHMS; NETWORKS;
D O I：
10.1002/rnc.5053
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, a consensus problem with nonconvex control input and velocity constraints is studied for continuous-time multiagent systems. In order to solve this problem, a fully distributed nonlinear algorithm is provided and an analysis approach is proposed based on the contraction property of an equivalent time-varying system after a model transformation. It is shown that consensus can be achieved under the condition that there exists a directed spanning tree in the union of the communication graphs in each certain time interval. A numerical simulation is provided to show the obtained result.
引用
收藏
页码：5418 / 5429
页数：12
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