Scaled Consensus and Reference Tracking in Multiagent Networks With Constraints

This paper considers the scaled consensus problem for networks of groups agents having state constraints. We first address by using a gradient projection approach and design distributed protocols that implement restriction steer asymptotically to proportions in terms pre-assigned scales. then extend method multiagent systems with static reference values. propose analyze sufficient conditions on agent dynamics such tracking is solved. The results are applied ship steering system numerical examples verify effectiveness proposed cooperative coordination scheme.