Distributed Optimal Output Consensus Control of Heterogeneous Multiagent Systems With Safety Constraints

• 成果类型: Article
• 署名作者: Ma, Ji; Liang, Shu; Hong, Yiguang
• 署名单位: Xiamen University; Tongji University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3618665
• 发表日期: 2026
• 关键词: Optimization; CONVERGENCE; algorithm; admm

摘要

This article investigates the distributed optimal output consensus control for heterogeneous multiagent systems under the constraint that agents' outputs must remain within a prescribed safe set. A distributed two-layer optimal safe consensus protocol is proposed using the extended projection method, which simultaneously ensures safety requirements and optimal output consensus. Specifically, we construct a distributed projection optimization algorithm with an expanding constraint set in the decision-making layer, while proposing a reference-tracking safety controller to ensure that each agent's output remains within a shrinking safety set in the control layer. We also establish the convergence and safety analysis of the closed-loop system using the small-gain theorem and time-varying control barrier function theory, respectively. By these approaches, we reach exactly an optimal solution, where the optimization part may drive the outputs of the system to the boundary of the constraints, and the safety part can avoid approaching the boundary.