2 research outputs found
Distributed velocity-constrained consensus of discrete-time multi-agent systems with nonconvex constraints, switching topologies, and delays
In this paper, a distributed velocity-constrained consensus problem is
studied for discrete-time multi-agent systems, where each agent's velocity is
constrained to lie in a nonconvex set. A distributed constrained control
algorithm is proposed to enable all agents to converge to a common point using
only local information. {The gains of the algorithm for all agents need not to
be the same or predesigned and can be adjusted by each agent itself based on
its own and neighbors' information.}
It is shown that the algorithm is robust to arbitrarily bounded communication
delays and arbitrarily switching communication graphs provided that the union
of the graphs has directed spanning trees among each certain time interval. The
analysis approach is based on multiple novel model transformations, proper
control parameter selections, boundedness analysis of state-dependent
stochastic matrices, exploitation of the convexity of stochastic matrices, and
the joint connectivity of the communication graphs. Numerical examples are
included to illustrate the theoretical results
Constrained H-infinity Consensus with Nonidentical Constraints
This note considers the constrained H-infinity consensus of multi-agent
networks with nonidentical constraint sets. An improved distributed algorithm
is adopted and a nonlinear controlled output function is defined to evaluate
the effect of disturbances. Then, it is shown that the constrained H-infinity
consensus can be achieved if some linear matrix inequality has positive
solution