This paper studies the continuous-time constrained consensus of heterogeneous multi-agent networks with nonconvex input and velocity constraints,where each agent's dynamic is modeled by a first-order or second-order integrator,the communication delays are assumed to be time-varying,nonuniform,bounded and the communication graph is changing over time.An improved distributed control algorithm with time-varying gains is proposed and the heterogeneous consensus is changed into the homogeneous consensus by a coordination transformation.Then,it is proved that the constrained consensus can be reached by analyzing six connection cases between agents if the joint graph has a directed spanning tree over each bounded interval.Finally,simulations are done to show the correctness of the theorem.

MO Lipo;YU Yongguang;REN Guojian;YUAN Xiaolin

School of Mathematics and Statistics,Beijing Technology and Business University,Beijing 100048,China;Key Laboratory of Power Big Data of Guizhou Province,Guizhou Institute of Technology,Guiyang 550003,China;Department of Mathematics,Beijing Jiaotong University,Beijing 100044,China

系统科学与复杂性学报（英文版）

[1]MO Lipo;YU Yongguang;REN Guojian;YUAN Xiaolin-.Constrained Consensus of Continuous-Time Heterogeneous Multi-Agent Networks with Nonconvex Constraints and Delays)[J].系统科学与复杂性学报（英文版）,2022(01):105-122

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