Impact on consensus by incorporating equality constraint

In this paper, we primarily address the impact on consensus of multi-agent systems by incorporating the equality constraint. Both linear and certain form of nonlinear constraints are considered. In order to visualize the impact, the convergence rate over a strongly connected graph is proposed for both proposed linear and nonlinear consensus algorithms. In addition, for certain cases, the consensus can be achieved by only using constraint and thus the additional, fragile and logy communication link can be entirely gotten rid of. Numerical examples are further elaborated to validate the effectiveness of the proposed algorithms and its improved performance.