Abstract
This paper studies the problem of distributed containment control for multi-agent systems with high-order dynamics and input delays. Two event-triggered control algorithms are proposed for multi-agent systems without and with input delay, respectively. The communication instants between two linked followers are determined by the event-triggering condition, and every follower can detect the event based on its own control input. For the followers, edge-based estimators are adopted to predict state differences to neighbors. Control inputs of the followers are calculated based on the predicted values of the state differences. To deal with the input delay, a delay comprehension approach is developed. It is proved that for arbitrarily large but bounded input delays, the followers can move into the convex hull spanned by the leaders asymptotically. Simulation results show the effectiveness of the proposed algorithms.
Highlights
Distributed cooperative control of multi-agent systems has been studied extensively in the past decade
The objective of this paper is to design the event-triggering functions and the control algorithms for system (2) and (3) without input delay, and the input delay system (2) and (4), respectively, such that all the followers can move to the convex hull formed by the leaders
With control algorithm (20), all the followers will converge to the convex hull formed by the leaders
Summary
Distributed cooperative control of multi-agent systems has been studied extensively in the past decade. The event-triggered control strategy was applied in both leaderless and leader-following consensus problems for multi-agent systems in [27,28,29]. The authors in [31,32,33] have proposed some event-triggered containment control algorithms for multi-agent systems with multiple leaders. For second-order multi-agent systems with time-varying delays, the containment control problem is considered in [42]. An event-triggered containment control algorithm was proposed, together with conditions under which the followers will converge to the convex hull spanned by the leaders. We consider the event-triggered containment control problem for multi-agent systems with high-order dynamics and input delay. New event-triggered containment control algorithms are proposed for multi-agent systems without and with input delay, respectively. We use diag(μ1 , · · · , μ p ) to denotes the diagonal matrix of all μ1 , · · · , μ p
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