Abstract
For multi-agent systems with quantitative input, we propose a novel containment control scheme to guarantee that the agents can enter a convex hull generated by the leader's signals after starting from any initial position. The problem with existing schemes is that the reference signals of the agents are affected by the communication topology such that the position of the reference signal cannot be changed when this communication topology is determined. To solve this problem, the proposed scheme can generate a flexible and adjustable reference signal for each agent. This has the advantage of reducing the probability of collisions among agents. Meanwhile, to address the situation where some agents cannot receive reference signals, we design an estimator to generate an adjustable estimation signal for each specific agent to ensure that all agents continue moving within the convex hull. In addition, by combining the fuzzy observer with the command filter design method, we devise a novel controller design scheme for quantitative input, which ensures that all signals in closed-loop multi-agent systems are uniformly and ultimately bounded. Finally, the simulation results demonstrate the feasibility and superiority of the proposed scheme for controlling multi-agent systems.
Published Version
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