Discarded Consensus of Network of Agents With State Constraint

This note investigates the consensus problem of network of agents with state constraint, while few researchers consider such problem. A simple distributed algorithm named discarded consensus algorithm is presented for weighted directed network of agents. The proposed method ensures the network reaching a consensus while keeping the state estimate of each agent within its own constraint if the digraph is strongly connected. Both network of agents described as discrete-time system and as continuous-time system with fixed/switching communication topologies are investigated in this note. The convergence of the algorithms presented is analyzed theoretically and numerical simulations are provided to demonstrate the effectiveness of the theoretic results.