Containment Problem Of Multi-agent Systems Research Articles

Distributed observer‐based containment control for unknown time‐varying P‐normal nonlinear multiagent systems

AbstractThis work investigates the containment control for unknown time‐varying p‐normal (TVP) nonlinear multiagent systems (MASs) under directed topology. First, by innovatively constructing the dynamic update law in the distributed observer design process, the corresponding virtual leader trajectory can be accurately estimated at an exponential rate. Subsequently, the containment problem of MASs is transformed into a tracking problem through appropriate state transformation. Then, based on backstepping and power integrator techniques, a recursive algorithm is proposed to construct the adaptive controller to guarantee that the followers are driven into the convex hull consisting of dynamic leaders and the closed‐loop system is stable. Finally, the effectiveness of the containment control scheme is verified through a numerical simulation and a practical example of single‐link manipulators.

Model-Free Adaptive Iterative Learning Bipartite Containment Control for Multi-Agent Systems.

This paper studies the bipartite containment tracking problem for a class of nonlinear multi-agent systems (MASs), where the interactions among agents can be both cooperative or antagonistic. Firstly, by the dynamic linearization method, we propose a novel model-free adaptive iterative learning control (MFAILC) to solve the bipartite containment problem of MASs. The designed controller only relies on the input and output data of the agent without requiring the model information of MASs. Secondly, we give the convergence condition that the containment error asymptotically converges to zero. The result shows that the output states of all followers will converge to the convex hull formed by the output states of leaders and the symmetric output states of leaders. Finally, the simulation verifies the effectiveness of the proposed method.

Distributed Robust Global Containment Control of Second-Order Multiagent Systems With Input Saturation

In this paper, we study the robust global containment control problem for second-order multiagent systems with bounded input disturbances subject to input saturation under general directed communication graphs. Two types of distributed controllers based on novel sliding mode control ideas are respectively proposed to solve the globally asymptotic containment problem for multiagent systems with static leaders and the practical containment problem for the case with dynamic leaders subject to unknown control inputs. One distinctive feature of the proposed controllers is that only local velocity measurements, relative position, and velocity measurements are involved in designing the controllers, which thus effectively reduces the information transmission burden among the agents for real-time implementation. Another favorable property of the designed controllers is that the global information such as the spectrum of the graph Laplacian matrix is not required in designing these controllers under general directed communication graphs. Simulations on containment control of multiple quadrotors are performed to illustrate the effectiveness of the proposed containment controllers.

Containment Problem for Multiagent Systems With Nonconvex Velocity Constraints.

In this paper, the containment problem with nonconvex velocity constraints is studied for second-order discrete-time multiagent systems. A distributed projection-based algorithm is proposed for all followers to be gathered in the convex area formed by multiple stationary leaders. It is revealed that the algorithm can solve the velocity-constrained containment problem with communication delays and switching networks provided that each follower has at least a directed path from some leaders to itself in the union of graphs. The main analysis approaches include model transformation techniques, Lyapunov function, and convexity analysis. A simulation example is also included to elucidate the obtained result.

Containment Control of Multiagent Systems With Dynamic Leaders Based on a $PI^{n}$ -Type Approach.

This paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by the n th-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. In order to drive all followers into the convex hull spanned by the leaders, a PI n -type containment algorithm is proposed ( P and I are short for proportional and integral, respectively; I n implies that the algorithm includes up to the n th-order integral terms). It is theoretically proved that the PI n -type containment algorithm is able to solve the containment problem of MASs where the followers are described by any order integral dynamics. Compared to the previous results on the MASs with dynamic leaders, the distinguished features of this paper are that: 1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain; 2) to deal with the leaders with the n th-order polynomial trajectories, existing results require the follower's dynamics to be the ( n+ 1)th-order integral while the followers considered in this paper can be described by any-order integral dynamics; 3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon; and 4) both disturbance and measurement noise are taken into account. Finally, some simulation examples are given to demonstrate the effectiveness of the proposed algorithm.