Leader-Following Consensus of Second-Order Networks with a Moving Leader and Nonconvex Input Constraints

This paper considers the constrained leader-following consensus problem of second-order multi-agent networks with nonconvex input constraints, where the leader moves with a constant velocity. It is assumed that each agent can only perceive its own nonconvex constraint set and the joint communication graph has a directed spanning tree whose root is the leader. By introducing the constraint operator and the estimator of the leader, a new distributed algorithm is designed. Then, it is proved that the leader-following consensus can be reached under some mild conditions by constructing some auxiliary functions. Finally, a simulation example is given to examine the effectiveness of our results.

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