论文标题
分布式速度约束，对具有非convex约束的离散时间多代理系统共识，切换拓扑和延迟
Distributed velocity-constrained consensus of discrete-time multi-agent systems with nonconvex constraints, switching topologies, and delays
论文作者
论文摘要
在本文中，研究了分布式速度约束的共识问题，用于离散时间多代理系统，其中每个代理的速度都被限制在非convex集中。提出了分布式约束的控制算法，以使所有代理仅使用局部信息收敛到共同点。 {所有代理的算法的收益不必是相同的或预先设计的，并且可以根据自己和邻居的信息来调整每个代理本身。} 结果表明，只要图形的结合在每个特定时间间隔之间，算法对任意界限的通信延迟和任意切换通信图是可靠的。分析方法基于多个新颖的模型转换，正确的控制参数选择，对状态依赖性随机矩阵的界定分析，随机矩阵凸的开发以及通信图的关节连接性。包括数值示例以说明理论结果。
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is proposed to enable all agents to converge to a common point using only local information. {The gains of the algorithm for all agents need not to be the same or predesigned and can be adjusted by each agent itself based on its own and neighbors' information.} It is shown that the algorithm is robust to arbitrarily bounded communication delays and arbitrarily switching communication graphs provided that the union of the graphs has directed spanning trees among each certain time interval. The analysis approach is based on multiple novel model transformations, proper control parameter selections, boundedness analysis of state-dependent stochastic matrices, exploitation of the convexity of stochastic matrices, and the joint connectivity of the communication graphs. Numerical examples are included to illustrate the theoretical results.
