Distributed Position Constrained Consensus of Second-Order Multi-agent Systems with Switching Topologies

This article solves a consensus problem of multi-agent systems with nonuniform position constraints, communication delays and switching topologies. A distributed control protocol is proposed for the consensus achievement. The novel concepts of dynamic compression point and scaling factor were introduced to ensure agents positions remain within some constraint sets. Through a series of system transformations and analysing the distance between each agent and the common constraint set, it is demonstrated that all agents ultimately achieve consensus while ensuring their positions remain within the given constraint sets. Finally, simulation examples are given to elucidate the conclusions.