Time-varying constrained consensus for multi-agent systems
YANG Tong-qing
MO Li-po
Abstract：This paper discusses the problem of consensus of a first-order multi-agent system under time-varying con-straints.We employ projection operator to establish the mathematical model of the multi-agent system.For the case when the time-varying constraint sets have intersections,it is proved that the closed-loop system can achieve consensus by es-timating the distance between the agents' states and the fixed points in the intersection.For the case when the constraint sets have limit set,it is shown that the consensus can be achieved for the closed-loop system by utilizing the geometric properties of the constraint sets.Finally,by numerical simulations,the effectiveness of the proposed consensus algorithms is verified.
Keywords：distributedmulti-agent systemtime-varying constraintconsensus control
Publication Date：2025-05-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1017-1025 )