Impulsive containment control for second-order networked multi-agent systems with sampled information

Li, Juan; Guan, Zhi‐Hong; Liao, Ruiquan; Zhang, Ding-Xue

doi:10.1016/j.nahs.2013.11.009

Cited by 18 publications

(18 citation statements)

References 23 publications

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“…Theorem 4: Assume all leaders move along their polynomial trajectories described by (19); and all followers are described by the single-integrator dynamics (20). Let P denote the positive definite solution to the following matrix inequality: U(1, 1) {a + bj|a, b ∈ R and (a − 1) 2 + b 2 < 1}.…”

Section: A Followers With Single-integrator Dynamicsmentioning

confidence: 99%

“…In [15], it was shown that the necessary and sufficient condition for achieving the containment of singleintegrator MASs with a directed topology was that for each follower, there exists at least one leader that has a directed path to this follower. This condition was also proved to be necessary and sufficient for the containment problem of doubleintegrator MASs in [18] and [19]. Experimental validations on a team of mobile robots were conducted in [9].…”

mentioning

confidence: 92%

“…In [9], [14]- [16], [18], [19], [21]- [24], [31], and [33], every leader has the following single-integrator or double-integrator dynamics:ẋ…”

mentioning

confidence: 99%

“…For a given random variable or vector x, E(x) denotes its mathematical expectation. [15], [16], [18], [19], [23], [24], [26], [38], and [39], the communication topology of the MAS is modeled by (M+N) are the node set, the directed edge set, and the adjacency matrix, respectively. Node v i denotes agent i; ij ∈ E G means that there is an information flow from agent i to agent j; and α ji denotes the weight associated with the directed edge ij .…”

mentioning

confidence: 99%

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Containment Control of Multiagent Systems With Dynamic Leaders Based on a $PI^{n}$ -Type Approach

Cheng

Wang²,

Ren

et al. 2016

IEEE Trans. Cybern.

135

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This paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by the n th-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. In order to drive all followers into the convex hull spanned by the leaders, a PI -type containment algorithm is proposed ( P and I are short for proportional and integral, respectively; I implies that the algorithm includes up to the n th-order integral terms). It is theoretically proved that the PI -type containment algorithm is able to solve the containment problem of MASs where the followers are described by any order integral dynamics. Compared to the previous results on the MASs with dynamic leaders, the distinguished features of this paper are that: 1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain; 2) to deal with the leaders with the n th-order polynomial trajectories, existing results require the follower's dynamics to be the ( n+ 1)th-order integral while the followers considered in this paper can be described by any-order integral dynamics; 3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon; and 4) both disturbance and measurement noise are taken into account. Finally, some simulation examples are given to demonstrate the effectiveness of the proposed algorithm.

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Section: A Followers With Single-integrator Dynamicsmentioning

confidence: 99%

mentioning

confidence: 92%

“…In [9], [14]- [16], [18], [19], [21]- [24], [31], and [33], every leader has the following single-integrator or double-integrator dynamics:ẋ…”

mentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Containment Control of Multiagent Systems With Dynamic Leaders Based on a $PI^{n}$ -Type Approach

Cheng

Wang²,

Ren

et al. 2016

IEEE Trans. Cybern.

135

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show abstract

“…Containment control of multi-agent systems with input saturation was considered in Su, Jia, and Chen (2014), Su and Chen (2015). In Li, Guan, Liao, and Zhang (2014), impulsive protocols were designed for second-order multi-agent systems to solve containment control problem. Liu, Su, et al (2014) considered the containment control of second-order multi-agent systems with communication delays.…”

Section: Introductionmentioning

confidence: 99%

Containment control of switched multi-agent systems

Zhu

Zheng

Wang

2015

International Journal of Control

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In this paper, we consider the containment control problem for the switched multi-agent system which is composed of continuous-time and discrete-time subsystems. Continuous-time protocol based on the relative state measurements of agents are designed for the switched multi-agent system with multiple stationary and dynamic leaders, respectively. By using graph theory and matrix theory, some necessary and sufficient conditions are obtained for solving the containment control problem under arbitrary switching. When the leaders are dynamic, impulsive protocol are also proposed for the switched multi-agent system. The simulation results are given to verify the effectiveness of the theoretical results.

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Semi‐global containment control for linear systems in the presence of actuator position and rate saturation

Zhao

Shi

2018

Intl J Robust & Nonlinear

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Summary This paper studies the semi‐global containment control problem for a group of general linear systems in the presence of actuator position and rate saturation. Both a state feedback containment control algorithm and an output feedback containment algorithm are constructed for each follower agent in the system by using low gain approach. We show that the states of all follower agents will converge to the convex hull formed by the leader agents asymptotically under these control algorithms when the communication topology among follower agents is a connected undirected graph and each leader agent is a neighbor of at least one follower agent. Simulation results illustrate the theoretical results.

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Impulsive containment control for second-order networked multi-agent systems with sampled information

Cited by 18 publications

References 23 publications

Containment Control of Multiagent Systems With Dynamic Leaders Based on a $PI^{n}$ -Type Approach

Containment Control of Multiagent Systems With Dynamic Leaders Based on a $PI^{n}$ -Type Approach

Containment control of switched multi-agent systems

Semi‐global containment control for linear systems in the presence of actuator position and rate saturation

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