Abstract
Time-varying formation-containment problems for a second-order multiagent system (SOMAS) are studied via pulse-modulated intermittent control (PMIC) in this paper. A distributed control framework utilizing the neighbors’ positions and velocities is designed so that leaders in the multiagent system form a formation, and followers move to the convex hull formed by each leader. Different from the traditional formation-containment problems, this paper applies the PMIC framework, which is more common and more in line with the actual control scenarios. Based on the knowledge of matrix theory, algebraic graph theory, and stability theory, some sufficient conditions are given for the time-varying formation-containment problem of the second-order multiagent system. Some numerical simulations are proposed to verify the effectiveness of the results presented in this paper.
Highlights
Many scholars start to pay attention to the multiagent systems (MASs) with the rapid development of complex network system theory
Many major breakthroughs have been made in this field [1], and those results are widely used in various fields of production and life, such as UAV cruise system [2], smart grid [3, 4], economic dispatching [5], and multiple underactuated surface vessels [6]. e most studied collaboration problems of MASs include swarm, consensus, formation, and distributed optimization
The clustering behavior of MASs has attracted widespread interest, including but not limited to consensus [7,8,9], tracking, and formation [10]. In these cooperative control problems, many important advances have been made in the field of formation control and containment control
Summary
Many scholars start to pay attention to the multiagent systems (MASs) with the rapid development of complex network system theory. The clustering behavior of MASs has attracted widespread interest, including but not limited to consensus [7,8,9], tracking, and formation [10] In these cooperative control problems, many important advances have been made in the field of formation control and containment control. Most of the existing works are carried out on formation control and containment control separately In many applications, both these cooperative behaviors often require simultaneous implementation. Aiming at solving the aforementioned problems, the formation-containment problem of the second-order multiagent system (SOMAS) is studied in this paper, and the control framework of pulse-modulated intermittent control (PMIC) is adopted.
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