This work aims to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to state and/or control constraints. The communication among agents is described by a directed graph that switches with time. Past works in this direction are much fewer than the constraint-free case and most results are restricted to the case where the agents are homogeneous. The management of the constraints is done in two stages: one in which the reference trajectories of all agents reach consensus and the second is based on the reference/command governor approach, implemented on controllers designed based on the internal model principle. In the case where the system dynamics of all agents are stable, this work shows a scheme that achieves global convergence towards the consensus values. Two examples are provided to illustrate the possibilities of the approach.

这项工作旨在在多代理环境中实现异构代理之间的输出共识，在这种环境中，每个代理都受到状态和/或控制约束。代理之间的通信由随时间切换的有向图描述。在这个方向上的过去工作比无约束情况少得多，并且大多数结果仅限于代理是同质的情况。约束的管理分两个阶段进行：第一阶段，所有代理的参考轨迹达成共识，第二阶段基于参考/命令调控器方法，在基于内部模型原理设计的控制器上实施。在所有代理的系统动力学稳定的情况下，这项工作表明了一种可以使全局值趋向于共识值的方案。