Consensus for heterogeneous multi-agent systems with nonconvex input constraints and nonuniform time delays

摘要

In this article, a constrained consensus problem for heterogeneous multi-agent system with nonconvex input constraints and nonuniform time delays was considered. The heterogeneous system is composed of hybrid agents including first-order agents to sigma th-order agents, where sigma is a positive bounded integer. It is assumed that each agent's control input is constrained to stay in a nonconvex set and the communication topology switches among some digraphs. A new distributed control algorithm is proposed first. And then some sufficient conditions are obtained to ensure the consensus can be reached for the heterogeneous multi-agent system. Finally, we provide the simulation results to verify the feasibility and effectiveness of the proposed algorithm. (C) 2020 The Authors. Published by Elsevier Ltd on behalf of The Franklin Institute.