Constrained consensus via logarithmic barrier functions

  title={Constrained consensus via logarithmic barrier functions},
  author={Unsik Lee and Mehran Mesbahi},
  journal={IEEE Conference on Decision and Control and European Control Conference},
In this paper, we consider distributed algorithms for consensus of multiple agents in presence of convex state constraints on individual agent state. Each agent's state is assumed to be constrained in a distinct compact convex set. We show that following the proposed distributed protocol, the agents are guaranteed to reach an agreement on a state that lies at the intersection of individual convex constraint sets. This is accomplished by introducing and sharing auxiliary variables in the network… CONTINUE READING
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