Heterogeneous linear multi-agent consensus with nonconvex input constraints and switching graphs

This study focuses on a constrained consensus problem of heterogeneous linear multi-agent systems with nonconvex input constraints and switching graphs. A distributed control algorithm with the time-varying gain is presented to ensure the control input of each agent to stay in a nonconvex set and make all agents reach to a common point. Through the method of nonnegative matrices, we obtain the sufficient conditions for the consensus of the system. It is shown that all agents can reach a consensus as long as the union of communication graphs contains spanning trees. Finally, simulations are provided to show the effectiveness of the proposed algorithm.