Consensus problem for continuous‐time multiagent systems with nonconvex control input and velocity constraints
Mengmeng Duan, Peng Lin, Chunhua Yang · International Journal of Robust and Nonlinear Control · 2020
Summary In this work, a consensus problem with nonconvex control input and velocity constraints is studied for continuous‐time multiagent systems. In order to solve this problem, a fully distributed nonlinear algorithm is provided and an analysis approach is proposed based on the contraction property of an equivalent time‐varying system after a model transformation. It is shown that consensus can be achieved under the condition that there exists a directed spanning tree in the union of the communication graphs in each certain time interval. A numerical simulation is provided to show the obtained result.