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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.