Distributed consensus of high-order continuous-time multi-agent systems with nonconvex input constraints, switching topologies, and delays

Abstract In this paper, we study the distributed input-constrained consensus problem for continuous-time high-order multi-agent systems with time-delays. Each agent’s control input is constrained to lie in a nonconvex set. A distributed control algorithm is proposed to achieve consensus of the agents. Finally, we illustrate the theoretical result by a numerical example.

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