Containment control of linear multi-agent systems with multiple leaders of bounded inputs using distributed continuous controllers

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)2101-2121
Journal / PublicationInternational Journal of Robust and Nonlinear Control
Volume25
Issue number13
Online published27 May 2014
Publication statusPublished - 10 Sept 2015

Abstract

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.

Research Area(s)

  • Adaptive control, Consensus, Containment control, Cooperative control, Multi-agent system

Citation Format(s)

Containment control of linear multi-agent systems with multiple leaders of bounded inputs using distributed continuous controllers. / Li, Zhongkui; Duan, Zhisheng; Ren, Wei et al.
In: International Journal of Robust and Nonlinear Control, Vol. 25, No. 13, 10.09.2015, p. 2101-2121.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review