Containment control with delays, velocity constraints and position constraints in directed changing networks

IT2 fuzzy adaptive containment control for fractional-order heterogeneous multi-agent systems with input saturation

“…According to (12), it is known that all the followers of the system converge to the inside of the polyhedron formed by the leaders.…”

“…Containment control, which involves designing control protocols that urge the state or output of followers into the convex hull spanned by those of leaders, is a common problem in multi-agent system coordination control. Although the containment control problem of integer-order multi-agent systems has been widely studied [8][9][10][11][12][13][14][15][16], many physical systems exhibit fractional-order (non-integer) dynamic behaviors due to their unique materials and characteristics, such as microorganisms in under-water environments and unmanned aerial vehicles operating in complex space environments. Compared with integer-order differential equations [17][18][19], fractional-order differential equations have non-local and long-memory effects [20,21], which makes them of great value in studying nonlinear systems, chaotic phenomena, and functional calculus.…”