Distributed Containment Control of Multi-Agent Systems with Velocity and Acceleration Saturations

Liu, Tengfei; Jia, Qi; Jiang, Zhong‐Ping

doi:10.23919/chicc.2019.8865298

Cited by 4 publications

(8 citation statements)

References 24 publications

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“…k , which is parallel to the tangent space {y ∈ R d : h T y = h T x} at x. By (23) and the convexity of X, we have…”

Section: Proof Of Lemmamentioning

confidence: 99%

“…Employing a low-gain algebraic Riccati equation method, distributed containment control with input saturation has been studied in [22] for single-integrator multiagent systems. The work [23] addresses the containment control problem for double-integrators with both velocity and acceleration saturations. An anti-windup approach is incorporated to design linear controllers in [24] to facilitate containment under actuator saturation.…”

Section: Introductionmentioning

confidence: 99%

“…We mention that the containment control of multiagent systems with input saturations is often tackled by establishing a closed-loop error dynamics at the low level of system dynamics and solved by noting different system specification and some coordinate rotation-free properties of the control laws [22]- [26]. In the case of switching networks, for instance, an input saturated closed-loop system can be transformed into an equivalent time-varying system under strict assumptions of switching patterns and dwell-times [23], [24]. In the state constrained problem however, this is often difficult even in the case of fixed networks due to the general format of constrained sets.…”

Section: Introductionmentioning

confidence: 99%

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Consensus Tracking and Containment in Multiagent Networks With State Constraints

Shang

2023

IEEE Trans. Syst. Man Cybern, Syst.

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The ability of tracking is an important prerequisite for multiagent networks to perform collective activities. This paper investigates the problem of containment for a weighted multiagent network with continuous-time agents under state constraints. The network is composed of uninformed and informed agents, where the latter receive external inputs. A new general class of distributed nonlinear controllers is designed for accomplishing both containment and consensus tracking, where the state of each agent is required to stay in its desired convex constraint set. We show that, by using matrix analysis, convex analysis and Lyapunov theory, all agents eventually converge to the convex hull formed by the external inputs while they obey their constraints during the transience. No relationship is assumed between the convex hull and the intersection of all constraint sets. The consensus tracking problem with a single external input is also solved under this framework. As a generalization, we tackle the multi-scaled constrained containment problem, where agents can specify their desired buffer zones by either zooming in or zooming out the convex hull. Numerical examples are provided to illustrate the theoretical results.

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“…k , which is parallel to the tangent space {y ∈ R d : h T y = h T x} at x. By (23) and the convexity of X, we have…”

Section: Proof Of Lemmamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Consensus Tracking and Containment in Multiagent Networks With State Constraints

Shang

2023

IEEE Trans. Syst. Man Cybern, Syst.

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“…In recent years, cooperative control of multi-agent systems is gaining incredible attention due to their extensive applications in the formation control of robots, [1][2][3][4] containment control [5][6][7] and output regulation of multi-agent systems, [8][9][10] attitude synchronization of spacecraft, 11,12 to name just a few. Among them, the consensus problem is to drive the states/outputs of the agents to reach a same value with local information transmitted from others.…”

Section: Introductionmentioning

confidence: 99%

Semi‐global leader–following output consensus of heterogeneous systems with all agents subject to input saturation

Zhou

Chen

2022

Intl J Robust & Nonlinear

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In this paper, we consider the semi‐global leader–following output consensus of heterogeneous multi‐agent linear systems over a directed communication graph with both the leader agent and the follower agents subject to input saturation. Via the low gain feedback design technique, both the state feedback and output feedback consensus protocols are constructed. In the state feedback case, a fully distributed observer is given to estimate the state of the leader agent. In the output feedback case, for both the informed follower agents and the uninformed follower agents, a state observer and a distributed leader state observer for each follower are designed to estimate the state of the follower itself and the state of the leader agent, respectively. In the distributed leader state observer, additional discontinuous functions are designed to suppress the influence of the bounded input of the leader agent. In both consensus protocols, a term under a condition similar to that used in the robust control is used to compensate for the control input of the leader agent.

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“…Since the early work [149], where a Stop-Go policy is proposed to realize the containment control under a fixed topology, much research effort has been devoted to this field (see [147,[150][151][152][153][154]). Given different system dynamics, the containment control of linear and Euler-Lagrangian systems are respectively considered in [147,151].…”

Section: Related Workmentioning

confidence: 99%

Secure detection and control in Cyber-physical systems

Yan¹

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A Cyber-physical system (CPS) is a complex system embedding advanced computation, communication and control techniques into physical spaces, and is usually built up with a set of networked agents such as sensors, actuators, control processing units, and communication devices. Although the development of CPS facilitates efficient and real-time collaboration between elements, the open nature of communication networks makes it rather vulnerable to malicious attacks. Given that the applications of CPSs vary from aerospace, transportation, power grids, which are always safety-critical, researcher have acknowledged the importance of designing the system with secure algorithms. This thesis first characterizes the properties required for a secure system and possible security threats. Driven by the concerns of deception attacks on communication channels, we study secure detection and control in adversarial environment. New Acronyms CPS Cyber-Physical System WSN Wireless Sensor Networks MAS Multi-Agent System i.i.d. independent and identically distributed

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Distributed Containment Control of Multi-Agent Systems with Velocity and Acceleration Saturations

Cited by 4 publications

References 24 publications

Consensus Tracking and Containment in Multiagent Networks With State Constraints

Consensus Tracking and Containment in Multiagent Networks With State Constraints

Semi‐global leader–following output consensus of heterogeneous systems with all agents subject to input saturation

Secure detection and control in Cyber-physical systems

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