Containment control of continuous-time multi-agent systems with general linear dynamics under time-varying communication topologies

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• 作者：Zhe Yang ; Xiao-wu Mu ; Kai Liu
• 关键词：Containment control ; directed spanning forest ; dynamic topology ; multi ; agent systems
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：15
• 期：1
• 页码：442-449
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics;
• 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
• ISSN：2005-4092
• 卷排序：15

文摘

This paper devotes itself to the containment tracking problem of general linear high-order multiagent systems (MASs) under time-varying communications. For general linear MASs with time-varying weightunbalanced digraph, the containment control problem is difficult and challenging, because the Lyapunov method is not an effective approach in this case. Under the assumption that the graph topology uniformly and jointly has a directed spanning forest, we show that when the exponentially unstable mode associated with each agent’s self-dynamics is weak enough, the followers can asymptotically tend to the dynamical convex hull spanned by the leaders, i.e. the containment can be achieved. Moreover, the least convergence rate is explicitly specified. Simulations are also provided to demonstrate the effectiveness of our result.