Interval Consensus of Heterogeneous High-Order Multiagent Systems

• 成果类型: Article
• 署名作者: Tian, Kaixin; Mei, Jie; Tian, Congcong; Ma, Guangfu
• 署名单位: Harbin Institute of Technology; Harbin Institute of Technology; Zhengzhou Tobacco Research Institute of CNTC
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3566577
• 发表日期: 2025
• 页码: 6331-6338
• 关键词: Damping; vectors; Eigenvalues and eigenfunctions; Vehicle dynamics; Directed graphs; Robot kinematics; nickel; Multi-agent systems; Laplace equations; CONVERGENCE; Heterogeneous dynamics; high-order systems; interval consensus; multiagent systems (MASs); saturation constraints

摘要

This article focuses on the interval consensus problem, which is characterized by the constraint that each agent has a lower and upper bound on the achievable consensus value. Such constraint is realized by setting saturation for neighbors' positions in agent dynamics. By using a novel system transformation, the heterogeneous high-order interval consensus problem then can be transformed into a first-order one, thus restoring the monotonic property, and further facilitating the analysis of the position interval consensus. We introduce a fully distributed absolute damping gain design. When the intersection of the intervals imposed by the agents is nonempty, the resulting positions must converge to a common value inside that intersection. When the intersection of the intervals is empty, there exists a unique, and globally asymptotically stable equilibrium. Numerical simulations have been presented to validate the efficacy of the proposed algorithms.