access icon free Constrained consensus over continuous-time multi-agent networks with state constraints, non-convex input constraints and time delays

© The Institution of Engineering and Technology
Received 26/11/2019, Accepted 28/09/2020, Revised 27/06/2020, Published 03/12/2020

This study considers the constrained consensus problem of continuous-time multi-agent networks with hypercube state constraints, non-convex input constraints and non-uniform delays. It is assumed that each agent can only perceive its own constraint sets, the communication graphs are switching over time and the joint communication graphs are strongly connected. By introducing the time-varying gains and the constraint operators, a new distributed algorithm is proposed. Then, it is proved that the constraint consensus can be reached under the proposed algorithm by reduction, while the states and the inputs are constrained to stay at the corresponding constraint sets. Finally, simulation examples are given to examine the effectiveness of the proposed results.

Inspec keywords: delays; graph theory; set theory; multi-agent systems; distributed algorithms; continuous time systems; Lyapunov methods; nonlinear control systems; multi-robot systems; convex programming; time-varying systems

Other keywords: time delays; constraint consensus; constraint operators; nonuniform delays; joint communication graphs; constrained consensus problem; hypercube state constraints; corresponding constraint sets; time-varying gains; nonconvex input constraints; continuous-time multiagent networks

Subjects: Optimisation techniques; Stability in control theory; Nonlinear control systems; Combinatorial mathematics; Optimisation techniques

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