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Discarded Consensus of Network of Agents With State Constraint

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2 Author(s)
Zhong-Xin Liu ; Dept. of Autom., Nankai Univ., Tianjin, China ; Zeng-Qiang Chen

This note investigates the consensus problem of network of agents with state constraint, while few researchers consider such problem. A simple distributed algorithm named discarded consensus algorithm is presented for weighted directed network of agents. The proposed method ensures the network reaching a consensus while keeping the state estimate of each agent within its own constraint if the digraph is strongly connected. Both network of agents described as discrete-time system and as continuous-time system with fixed/switching communication topologies are investigated in this note. The convergence of the algorithms presented is analyzed theoretically and numerical simulations are provided to demonstrate the effectiveness of the theoretic results.

Published in:

IEEE Transactions on Automatic Control  (Volume:57 ,  Issue: 11 )