Constrained consensus of heterogeneous networks with nonuniform constraints and nonuniform communication delays
This paper reports on the constrained consensus problem of heterogeneous multi-agent networks(HMANs)with nonuniform convex position constraints,nonconvex velocity constraints and nonuniform communication delays,where the HAMN is composed of first-order and second-order agents.A distributed control algorithm is first designed for each agent,and two coordinate transformations are introduced to change the heterogeneous dynamics with delays into the linear time varying dynamics with heterogeneous nonlinear errors and delay-free.To deal with the heterogeneous nonlinear errors,a geometrical technique is adopted to make the nonlinear dynamics of the combination variables be controlled by a linear one.Then,by the properties of projection operator and nonnegative matrix,it is shown that the nonlinear errors would converge to zero and the constrained consensus can be reached as time evolves under some mild assumptions.Finally,we give two numerical examples to show the correctness of the results.
国家科技期刊平台
NSTL
万方数据
