Distributed Finite-Time Containment Control for Second-Order Multi-Agent Systems
This paper addresses the finite-time containment control problem for second-order multi-agent systems under a fixed communication topology. First, a new finite-time consensus protocol based on both the relative position and velocity states is provided for achieving finite-time containment control in multi-agent systems in the presence of multiple active leaders. Then, a finite-time observer-type containment control protocol is exploited, where only the relative position states are involved. By using tools from finite-time control theory, it is theoretically shown that the states of the followers will converge to a convex hull spanned by those of the leaders in finite time, if for each follower there exists at least one leader that has a directed path to that follower. The effectiveness of the results are finally illustrated by numerical simulations.
Multi-Agent System Distributed Control Containment Control Finite-Time Control Observer-Type Protocol
ZHAO Yu DUAN Zhisheng WEN Guanghui ZHANG Yanjiao
State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engin State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engin
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6202-6207
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）