Distributed Containment Control of Linear Multi-agent Systems with Multiple Leaders of Bounded Unknown Inputs
This paper considers the distributed containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and not available to any follower. It is assumed that the communication graph among the followers is undirected, there exists at least one leader that has a directed path to each follower, and the leaders’ control inputs are bounded. Based on the relative state information of neighboring agents, two distributed controllers with, respectively, static and adaptive coupling gains, are designed to solve the containment control problem, i.e., the states of the followers asymptotically converge to the convex hull formed by those of the leaders. A sufficient condition for the existence of these distributed controllers is that each agent is stabilizable. A simulation example is given to illustrate the theoretical results.
Multi-agent system consensus containment control adaptive control
Zhongkui Li Xiangdong Liu Wei Ren
School of Automation, Beijing Institute of Technology, Beijing 100081, China Department of Electrical Engineering, University of California, Riverside, CA, 92521, USA
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6165-6170
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）