Constrained Consensus of Multiple Autonomous Vehicles with Nonconvex Constraints

In this paper, we investigate the consensus problem for multiple autonomous vehicles with nonconvex constraints. We propose a distributed control algorithm and prove that consensus can be reached if the communication network jointly has a spanning tree. The analysis approach is based on the model transformation and the properties of the Metzler matrix and the stochastic matrix.

[1]  Asuman E. Ozdaglar,et al.  Constrained Consensus and Optimization in Multi-Agent Networks , 2008, IEEE Transactions on Automatic Control.

[2]  Jay A. Farrell,et al.  Distributed Continuous-Time Optimization: Nonuniform Gradient Gains, Finite-Time Convergence, and Convex Constraint Set , 2017, IEEE Transactions on Automatic Control.

[3]  E.M. Atkins,et al.  A survey of consensus problems in multi-agent coordination , 2005, Proceedings of the 2005, American Control Conference, 2005..

[4]  Peng Lin,et al.  Distributed consensus of second‐order multiagent systems with nonconvex input constraints , 2018 .

[5]  Wei Ren,et al.  Constrained Consensus in Unbalanced Networks With Communication Delays , 2014, IEEE Transactions on Automatic Control.

[6]  Zhong. Yu Distributed consensus of second-order multi-agent systems , 2011 .

[7]  Weihua Gui,et al.  Distributed Optimization With Nonconvex Velocity Constraints, Nonuniform Position Constraints, and Nonuniform Stepsizes , 2019, IEEE Transactions on Automatic Control.

[8]  Yingmin Jia,et al.  Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies , 2009, Autom..

[9]  L. Moreau,et al.  Stability of continuous-time distributed consensus algorithms , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[10]  Wei Ren,et al.  Distributed H∞ constrained consensus problem , 2017, Syst. Control. Lett..

[11]  Yingmin Jia,et al.  Consensus of a Class of Second-Order Multi-Agent Systems With Time-Delay and Jointly-Connected Topologies , 2010, IEEE Transactions on Automatic Control.

[12]  Angelia Nedic,et al.  Distributed Asynchronous Constrained Stochastic Optimization , 2011, IEEE Journal of Selected Topics in Signal Processing.

[13]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[14]  Weihua Gui,et al.  Distributed Containment Control of Continuous-Time Multiagent Systems With Nonconvex Control Input Constraints , 2019, IEEE Transactions on Industrial Electronics.

[15]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[16]  Wei Ren,et al.  Distributed Velocity-Constrained Consensus of Discrete-Time Multi-Agent Systems With Nonconvex Constraints, Switching Topologies, and Delays , 2017, IEEE Transactions on Automatic Control.

[17]  Weihua Gui,et al.  Distributed Consensus of Second-Order Multiagent Systems With Nonconvex Velocity and Control Input Constraints , 2018, IEEE Transactions on Automatic Control.