Output Consensus of Constrained System for Periodic References Under a Switching Network

This work aims to achieve output consensus of constrained heterogeneous multi-agent systems under a switching network, where outputs are periodic and characterized by a reference system. Compared to constant references, the periodic references are harder to track and to achieve constrained consensus. In this paper, constraint admissible set for the agent-reference system is first analyzed to determine the set of admissible references. This is followed by a consensus protocol involving a projection so that consensus is achieved among the set of admissible references for each system. An additional feature of the proposed approach is the use of an artificial reference such that each agent tracks the given admissible reference without violating constraints even when reference is far from the current state. Finally, the efficiency of the proposed algorithm is demonstrated by numerical examples.