Consensus for heterogeneous multi-agent systems with nonconvex input constraints and nonuniform time delays. Issue 6 (April 2020)

• Record Type: Journal Article
• Authors: Li, Xue; Li, Cancan; Yang, Yikang; Mo, Lipo
• Is Part Of: Journal of the Franklin Institute. Volume 357:Issue 6(2020)
• Page Start: 3622
• Page End: 3635
• Publication Date: 2020-04
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2019.12.035
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: 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 σ th-order agents, where σ 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.