Barrier Function Based Consensus of High-Order Nonlinear Multi-agent Systems with State Constraints

Abstract

Consensus control of a class of high-order nonlinear multi-agent systems subject to multiple state constraints and input saturation is studied in this work. Barrier functions are employed to design a distributed controller which achieves consensus without violating the state constraints and input saturation provided that some feasibility conditions on the initial states and controller parameters are satisfied. The feasibility conditions can be checked off-line. Backstepping method and Lyapunov analysis are employed to study the convergence properties of the designed controller.