Consensus Of Multi-Agent Systems With State Constraints

This paper is devoted to the consensus problem of single-integrator agents with state constraints. The state of agents under consideration is subject to saturation nonlinearities. Some necessary and sufficient conditions of consensus with state constraints are first proposed based on investigating the unique achievable equilibrium and employing an integral Lyapunov function. With the proposed necessary and sufficient condition, the consensus problem of single-integrator agents can be solved under an undirected and connected graph. In addition, some properties of the unachievable consensus are discussed. Finally, simulation examples are given to show the validity of the theoretical results.