Nonconvex Constrained Consensus of Discrete-Time Heterogeneous Multi-Agent Systems With Arbitrarily Switching Topologies

Abstract

This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies, where each agent has first-order or second-order dynamics. To solve this problem, a distributed algorithm is proposed based on a contraction operator. By employing the properties of the stochastic matrix, it is shown that all agents' position states could converge to a common point and second-order agents' velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree. Finally, the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.

Keywords

• Heterogeneous
• multi-agent systems
• nonconvex constraint
• consensus