Distributed [formula omitted] consensus of heterogeneous multi-agent systems with nonconvex constraints.

The distributed H ∞ consensus problem for heterogeneous multi-agent systems with nonconvex constraints is investigated in this paper. To deal with the coexistence of nonconvex constraints and disturbances, our main analysis is to transform the original system into a reduced-order system so as to use the H ∞ control theory to show the achievement of consensus with a desired H ∞ performance while the inputs of all agents constrained in the nonconvex sets. Numerical simulations verify the results in this paper. • Consensus problem for heterogeneous multi-agent system is studied. • The control inputs of all agents stay in a nonconvex set. • A new distributed H ∞ control algorithm has been developed. [ABSTRACT FROM AUTHOR]