Consensus seeking for heterogeneous networks of agents with non‐convex constraints and switching topologies

Abstract

This study focuses on the problem of constraint consensus of discrete-time multi-agent systems with high-order heterogeneity. It is assumed that the agents are of different orders in such systems ranging from order 1 to l and the velocity of each agent is constrained to lie in a non-convex set. This study proposes a distributed constraint control algorithm which guarantees the agents converge to a common point through the use of local information. Model transformations of the system matrix are performed in this study, so that the authors can utilise the properties of the stochastic matrix. Meanwhile, the boundness of state-dependent stochastic matrices and the convexity of stochastic matrices are analysed and explored in detail. Finally, a numerical example is given to illustrate the correctness of the results.