Projection-based consensus for continuous-time multi-agent systems with state constraints

This paper studies the consensus problem in multi-agent systems with distinct state constraints. We present a projection-based consensus protocol for continuous-time systems with connected and undirected communication topology. Under this protocol each agent does not have to know additional information of its neighbors´ other than their states. When the state of an agent is close to its boundary, the projection operator will drive it back to the constraint set. We prove that if the constraint sets are convex and the intersection of those sets is non-empty, global consensus can always be achieved without violation of the constraints.