Abstract
This paper investigates the formation-containment control of second-order multiagent systems with intermittent communication. Distributed coordination control algorithms are proposed under aperiodic intermittent communication, where each agent only communicates with its neighboring agents on some disconnected time intervals. By means of constructing Lyapunov functions, sufficient convergence conditions are obtained for the leaders reaching a prescribed formation asymptotically and the followers converging into the convex hull formed by leaders asymptotically, respectively. Besides, sufficient convergence conditions are also provided for second-order multiagent systems converging to the desired formation-containment under time-varying communication delay and intermittent communication. Finally, the validity of theoretical results is illustrated by numerical simulations.
Highlights
In the past decades, coordination control of multiagent systems has drawn considerable attention due to its wide engineering applications, such as sensor networks [1], railway traffic control [2], formation control of robots [3], and so on
Consensus seeking, formation control, and containment control have become the hot issues of coordination control of multiagent systems and have been extensively studied in various research fields, e.g., biology, physics, control theory, etc
Containment control algorithm under the intermittent sampled data was designed for second-order multiagent systems [30], and the necessary and sufficient conditions were dependent on the gain parameters, the sampling period and the communication width
Summary
Coordination control of multiagent systems has drawn considerable attention due to its wide engineering applications, such as sensor networks [1], railway traffic control [2], formation control of robots [3], and so on. Hamed et al [18] proposed the containment control algorithms for linear heterogeneous multiagent systems, and the convergence conditions were obtained for the followers converging into the convex hull formed by leaders based on output regulation techniques. Zheng et al [23] studied the formationcontainment control problem of second-order multiagent systems with only sampled position data, and got sufficient formation-containment conditions based on algebraic graph theory and matrix theory. Xia et al [24] proposed the formation-containment control algorithms for secondorder multiagent systems under time-varying delays, and two delay-dependent convergence conditions were obtained for the leaders and followers, respectively, based on LyapunovKrasovskii functional. Containment control algorithm under the intermittent sampled data was designed for second-order multiagent systems [30], and the necessary and sufficient conditions were dependent on the gain parameters, the sampling period and the communication width. In and 1n denote n×n identity matrix and n × 1 column vectors with all entries equivalent to 1. λ(L) denotes the eigenvalues of matrix L, and σ(L) indicates the largest singular value of matrix L. ⊗ stands for Kronecker product, and QT represents the transpose matrix of Q
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