Constrained Consensus in High-order Multi-agent Systems under Switching Topologies*

摘要

We study the consensus problem for the continuous-time high-order multi-agent systems with input constraints and switching topologies. A algorithm without time delay and a algorithm with uniform time delay are designed with the consideration of nonconvex control input constraints. By making model transformation for the original system, we obtain the sufficient conditions of the system matrix and the connectedness of the topologies for the state consensus. And then, we illustrate the effective of the algorithm by a numerical simulation.