Abstract
This paper mainly focuses on the nonconvex constrained consensus problem of heterogeneous multi-agent systems under the case of coexistence of velocity and input constraints. By utilizing contraction operator, a novel distributed control law is proposed. Under some mild conditions, it is shown that all agents can reach an agreement on their position states while the velocities of second-order agents and inputs of all agents can stay in their corresponding nonconvex constrained sets. At last, the correctness of theoretical results is verified by simulations.
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Acknowledgments
This work was supported by the National Natural Science Foundation of China (No. 61973329), the Beijing Educational Committee Foundation (No. KM201910011007, PXM2019 014213 000007) and the Beijing Natural Science Foundation (No. Z180005).
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Mo, L., Cheng, J., Cao, X. (2020). Consensus of Discrete-Time Heterogenous Multi-agent Systems with Nonconvex Velocity and Input Constraints. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 592. Springer, Singapore. https://doi.org/10.1007/978-981-32-9682-4_11
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DOI: https://doi.org/10.1007/978-981-32-9682-4_11
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