Distributed constrained consensus of multi-vehicle systems with external disturbances

In this paper, the nonconvex constrained consensus problem for a second-order multi-vehicle system with external disturbances is addressed by proposing a distributed control algorithm based on local information. First, the initial closed-loop system is turned into a reduced-order system which is convenient for the subsequent calculation. In the presence of external disturbances, it is proved that the nonconvex constrained consensus can be achieved if the presented sufficient condition is satisfied.