This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying directed/undirected graph. The approach is based on the well-known Internal Model Principle which uses a specific class of unstable reference systems. One contribution of this work is the characterization of the maximal constraint admissible invariant set (MCAI) for the combined agent-reference system. Typically, MCAI sets do not exist for unstable systems. This work shows that for an important class of agent-reference systems that are unstable, MCAI exist and can be computed. This MCAI set is used in a novel Reference Governor, combined with a projected consensus algorithm, to achieve output consensus of all agents while satisfying constraints of each. An example is provided to illustrate the approach.

这项工作展示了一种在多代理环境中实现异构代理之间输出共识的方法，其中每个代理都受到输入约束。代理之间的通信由时变有向/无向图描述。该方法基于众所周知的内部模型原理，该原理使用特定类别的不稳定参考系统。这项工作的一个贡献是组合代理参考系统的最大约束容许不变集 (MCAI) 的表征。通常，不稳定系统不存在 MCAI 集。这项工作表明，对于一类重要的不稳定的代理参考系统，MCAI 存在并且可以计算。该 MCAI 集用于新颖的参考调控器，并结合投影共识算法，在满足每个代理的约束的同时实现所有代理的输出共识。提供了一个示例来说明该方法。