Semi-global and global containment control of multi-agent systems with second-order dynamics and input saturation

2016 ◽  
Vol 26 (16) ◽  
pp. 3460-3480 ◽  
Author(s):  
Qiang Song ◽  
Fang Liu ◽  
Housheng Su ◽  
Athanasios V. Vasilakos
Keyword(s):  
Input Saturation ◽  
Second Order ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent

Second-order consensus for a class of uncertain multi-agent systems subject to input saturation

2018 ◽  
Vol 41 (7) ◽  
pp. 1957-1964 ◽  
Author(s):  
Ming-Can Fan ◽  
Miaomiao Wang
Keyword(s):  
A Priori ◽  
Input Saturation ◽  
Second Order ◽  
Control Technique ◽  
Control Input ◽  
Multi Agent Systems ◽  
State Information ◽  
Agent Systems ◽  
Barbalat’S Lemma ◽  
Multi Agent

This paper investigates the leaderless and leader-following consensus problem for a class of second-order multi-agent systems subject to input saturation, that is, the control input is required to be a priori bounded. Moreover, the control coefficients are assumed to be unavailable, which cannot be lower or upper bounded by any known constants. Distributed consensus protocols are proposed based only on agents’ own velocity state information and relative position state information among neighbouring agents and the leader. By virtue of the adaptive control technique, algebraic graph theory and Barbalat’s lemma, it is proved that the states of the multi-agent systems can achieve consensus under the assumption that the interconnection topology is undirected and connected. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.

Formation-containment control of sampled-data second-order multi-agent systems with sampling delay

2018 ◽  
Vol 40 (16) ◽  
pp. 4369-4381 ◽  
Author(s):  
Baojie Zheng ◽  
Xiaowu Mu
Keyword(s):  
Matrix Theory ◽  
Sufficient Conditions ◽  
Second Order ◽  
Control Problems ◽  
Sampled Data ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results

The formation-containment control problems of sampled-data second-order multi-agent systems with sampling delay are studied. In this paper, we assume that there exist interactions among leaders and that the leader’s neighbours are only leaders. Firstly, two different control protocols with sampling delay are presented for followers and leaders, respectively. Then, by utilizing the algebraic graph theory and matrix theory, several sufficient conditions are obtained to ensure that the leaders achieve a desired formation and that the states of the followers converge to the convex hull formed by the states of the leaders, i.e. the multi-agent systems achieve formation containment. Furthermore, an explicit expression of the formation position function is derived for each leader. An algorithm is provided to design the gain parameters in the protocols. Finally, a numerical example is given to illustrate the effectiveness of the obtained theoretical results.

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