Finite-Time Containment Control For Multi-Agent SystemsWith Single-Integrator Dynamics
In this paper, a novel finite-time containment control framework for multi-agent systems with single-integrator dynamics is established. In such a framework, the multi-agent team can achieve containment control at any preset time, i.e., the followers can move into the convex hull spanned by the leaders at any preset time. In order to reach this goal, linear feedback control protocols with time-varying gains are introduced. Specific functions for time-varying gains are considered and then the result in general form is derived. The proposed preset time dependent time-varying control protocols can solve containment control problems at the preset time if the directed communication topology has a directed spanning forest. Numerical simulations are presented to illustrate the effectiveness of the obtained theoretical results.
Finite-time containment control multi-agent systems time-varying gain
CAI Yong LIU Huiyang XIE Guangming
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, P. R. Ch Center for Systems and Control, State Key Laboratory forTurbulence and Complex Systems and College o Center for Systems and Control, State Key Laboratory for Turbulence and Complex Systems and College
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6433-6438
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）