Containment control of linear multi-agent systems with multiple leaders of bounded inputs using distributed continuous controllers
SummaryThis paper considers the containment control problem for multi‐agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a distributed static continuous controller is designed...
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| Published in | International journal of robust and nonlinear control Vol. 25; no. 13; pp. 2101 - 2121 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Chichester, UK
John Wiley & Sons, Ltd
10.09.2015
Wiley Subscription Services, Inc |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1049-8923 1099-1239 |
| DOI | 10.1002/rnc.3195 |
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| Abstract | SummaryThis paper considers the containment control problem for multi‐agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a distributed static continuous controller is designed, under which the containment error is uniformly ultimately bounded and the upper bound of the containment error can be made arbitrarily small, if the subgraph associated with the followers is undirected and, for each follower, there exists at least one leader that has a directed path to that follower. It is noted that the design of the static controller requires the knowledge of the eigenvalues of the Laplacian matrix and the upper bounds of the leaders’ control inputs. In order to remove these requirements, a distributed adaptive continuous controller is further proposed, which can be designed and implemented by each follower in a fully distributed fashion. Extensions to the case where only local output information is available and to the case of multi‐agent systems with matching uncertainties are also discussed. Copyright © 2014 John Wiley & Sons, Ltd. |
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| AbstractList | This paper considers the containment control problem for multi‐agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a distributed static continuous controller is designed, under which the containment error is uniformly ultimately bounded and the upper bound of the containment error can be made arbitrarily small, if the subgraph associated with the followers is undirected and, for each follower, there exists at least one leader that has a directed path to that follower. It is noted that the design of the static controller requires the knowledge of the eigenvalues of the Laplacian matrix and the upper bounds of the leaders’ control inputs. In order to remove these requirements, a distributed adaptive continuous controller is further proposed, which can be designed and implemented by each follower in a fully distributed fashion. Extensions to the case where only local output information is available and to the case of multi‐agent systems with matching uncertainties are also discussed. Copyright © 2014 John Wiley & Sons, Ltd. Summary This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a distributed static continuous controller is designed, under which the containment error is uniformly ultimately bounded and the upper bound of the containment error can be made arbitrarily small, if the subgraph associated with the followers is undirected and, for each follower, there exists at least one leader that has a directed path to that follower. It is noted that the design of the static controller requires the knowledge of the eigenvalues of the Laplacian matrix and the upper bounds of the leaders' control inputs. In order to remove these requirements, a distributed adaptive continuous controller is further proposed, which can be designed and implemented by each follower in a fully distributed fashion. Extensions to the case where only local output information is available and to the case of multi-agent systems with matching uncertainties are also discussed. Copyright © 2014 John Wiley & Sons, Ltd. This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a distributed static continuous controller is designed, under which the containment error is uniformly ultimately bounded and the upper bound of the containment error can be made arbitrarily small, if the subgraph associated with the followers is undirected and, for each follower, there exists at least one leader that has a directed path to that follower. It is noted that the design of the static controller requires the knowledge of the eigenvalues of the Laplacian matrix and the upper bounds of the leaders' control inputs. In order to remove these requirements, a distributed adaptive continuous controller is further proposed, which can be designed and implemented by each follower in a fully distributed fashion. Extensions to the case where only local output information is available and to the case of multi-agent systems with matching uncertainties are also discussed. SummaryThis paper considers the containment control problem for multi‐agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a distributed static continuous controller is designed, under which the containment error is uniformly ultimately bounded and the upper bound of the containment error can be made arbitrarily small, if the subgraph associated with the followers is undirected and, for each follower, there exists at least one leader that has a directed path to that follower. It is noted that the design of the static controller requires the knowledge of the eigenvalues of the Laplacian matrix and the upper bounds of the leaders’ control inputs. In order to remove these requirements, a distributed adaptive continuous controller is further proposed, which can be designed and implemented by each follower in a fully distributed fashion. Extensions to the case where only local output information is available and to the case of multi‐agent systems with matching uncertainties are also discussed. Copyright © 2014 John Wiley & Sons, Ltd. |
| Author | Duan, Zhisheng Ren, Wei Li, Zhongkui Feng, Gang |
| Author_xml | – sequence: 1 givenname: Zhongkui surname: Li fullname: Li, Zhongkui email: Correspondence to: Zhongkui Li, State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China., zhongkli@pku.edu.cn organization: State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China – sequence: 2 givenname: Zhisheng surname: Duan fullname: Duan, Zhisheng organization: State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China – sequence: 3 givenname: Wei surname: Ren fullname: Ren, Wei organization: Department of Electrical and Computer Engineering, Utah State University, Logan, UT 84322, USA – sequence: 4 givenname: Gang surname: Feng fullname: Feng, Gang organization: Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong |
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| Snippet | SummaryThis paper considers the containment control problem for multi‐agent systems with general linear dynamics and multiple leaders whose control inputs are... This paper considers the containment control problem for multi‐agent systems with general linear dynamics and multiple leaders whose control inputs are... Summary This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are... This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are... |
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| SubjectTerms | adaptive control consensus consensus, adaptive control Containment containment control Control systems Controllers cooperative control Dynamical systems Errors Followers multi-agent system Multiagent systems Upper bounds |
| Title | Containment control of linear multi-agent systems with multiple leaders of bounded inputs using distributed continuous controllers |
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