控制理论与应用2024，Vol.41Issue(8)：1427-1437,11.DOI:10.7641/CTA.2023.20503
带有非一致约束和通讯时延的异构网络约束一致性
Constrained consensus of heterogeneous networks with nonuniform constraints and nonuniform communication delays
摘要
Abstract
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.关键词
异构网络/非凸速度约束/位置约束/通讯时延/一致性Key words
heterogeneous networks/nonconvex velocity constraints/position constraints/communication delays/consensus引用本文复制引用
莫立坡,张豪哲..带有非一致约束和通讯时延的异构网络约束一致性[J].控制理论与应用,2024,41(8):1427-1437,11.基金项目
国家自然科学基金项目(61973329),北京市自然科学基金项目(Z180005)资助.Supported by the National Natural Science Foundation of China(61973329)and the Natural Science Foundation of Beijing(Z180005). （61973329）
