Discarded consensus of multi-agent systems with state constraint

This work addresses the consensus problem of multi-agent systems (MAS) with state constraint, while very few researchers consider such constraint in their study of consensus. A simple distributed algorithm named discarded consensus algorithm is proposed for weighted directed multi-agent systems. The proposed method can ensure the MAS reaching consensus while keeping the state estimate of each agent within its own constraint if the digraph is strongly connected and the initial state of each agent is within its constraint. Network of agents with both fixed and switching communication topologies are investigated in this paper. The convergence of the presented algorithms is analyzed theoretically and numerical simulations are provided to demonstrate the effectiveness of the theoretic results.