Consensus problem for continuous‐time multiagent systems with nonconvex control input and velocity constraints | Zendy

Duan Mengmeng | Zendy; Lin Peng | Zendy; Yang Chunhua | Zendy

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

Author(s) -

Duan Mengmeng,

Lin Peng,

Yang Chunhua

Publication year - 2020

Publication title -

international journal of robust and nonlinear control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.361

H-Index - 106

eISSN - 1099-1239

pISSN - 1049-8923

DOI - 10.1002/rnc.5053

Subject(s) - multi agent system , nonlinear system , interval (graph theory) , consensus , transformation (genetics) , property (philosophy) , computer science , mathematical optimization , control theory (sociology) , contraction (grammar) , spanning tree , tree (set theory) , mathematics , control (management) , discrete mathematics , artificial intelligence , combinatorics , biochemistry , chemistry , physics , philosophy , epistemology , quantum mechanics , medicine , gene

Summary 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.

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