Constrained Consensus of Multiple Autonomous Vehicles with Nonconvex Constraints
Mengmeng Duan, Hongqiu Zhu · 2018 International Conference on Intelligent Rail Transportation (ICIRT) · 2018
In this paper, we investigate the consensus problem for multiple autonomous vehicles with nonconvex constraints. We propose a distributed control algorithm and prove that consensus can be reached if the communication network jointly has a spanning tree. The analysis approach is based on the model transformation and the properties of the Metzler matrix and the stochastic matrix.