Observer-Based Containment Control of Multi-Agent System with Linear Dynamics
This paper considers the containment control of linear multi-agent system with weakly connected information topology. By defining the node-induced strongly connected subgraph as strong component, the agents contained in strong components with zero in-degree are called leaders and the others are called followers. Then, a sufficient and necessary condition is proposed for all agents to achieve containment by employing an observer-based protocol, where all followers finally converge to the convex hull formed by leaders and each strong component of leaders asymptotically achieve consensus. Since the number of leader agents in each strong component are always larger than one, the proposed scheme is more robust for the malfunction of leaders. Further, two LMIs are given to design the observer-based protocol. Numerical examples are included to illustrate the validity of the proposed results.
Multi-agent system Observer-based Containment Control Consensus.
Zonggang Li Guangming Xie Pu Gao
School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou, 730070, China Center for Sy Center for Systems and Control, State Key Laboratory of Turbulance and Complex Systems, College of E School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou, 730070, China
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
574-579
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）