TY - JOUR
T1 - Specified-time containment control of multi-agent systems over directed topologies
AU - Liu, Yongfang
AU - Zhao, Yu
AU - Shi, Zhongke
AU - Wei, Dongmei
N1 - Publisher Copyright:
© The Institution of Engineering and Technology 2016.
PY - 2017/2/24
Y1 - 2017/2/24
N2 - This study addresses the specified-time containment control problem of multi-agent systems over directed topologies. By using motion-planning approaches, a new framework is constructed to solve the containment control problem of multi-agent systems. In this framework, a class of sampled-data-based protocols are proposed to solve the specified-time containment control problem for single-integrator multi-agent systems. These protocols only require relative information measurements at the sampling instants, without requiring information exchange over the sampling interval. Furthermore, the containment protocols are also developed for the multi-agent system with double-integrator dynamics, such that their states converge to the convex hulls formed by those of the target points in a specified settling time over directed topologies. Compared with the existing results, the proposed sampled-data-based protocols have a couple of advantages: first the settling time can be pre-specified, which is very meaningful and consistent with practical needs. Second, the sampling periods, communication topologies and control gains are all decoupled and can be separately designed. This relaxes many restrictions in controllers design. Numerical simulations are provided to demonstrate the effectiveness of the proposed protocols.
AB - This study addresses the specified-time containment control problem of multi-agent systems over directed topologies. By using motion-planning approaches, a new framework is constructed to solve the containment control problem of multi-agent systems. In this framework, a class of sampled-data-based protocols are proposed to solve the specified-time containment control problem for single-integrator multi-agent systems. These protocols only require relative information measurements at the sampling instants, without requiring information exchange over the sampling interval. Furthermore, the containment protocols are also developed for the multi-agent system with double-integrator dynamics, such that their states converge to the convex hulls formed by those of the target points in a specified settling time over directed topologies. Compared with the existing results, the proposed sampled-data-based protocols have a couple of advantages: first the settling time can be pre-specified, which is very meaningful and consistent with practical needs. Second, the sampling periods, communication topologies and control gains are all decoupled and can be separately designed. This relaxes many restrictions in controllers design. Numerical simulations are provided to demonstrate the effectiveness of the proposed protocols.
UR - http://www.scopus.com/inward/record.url?scp=85014072562&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2016.1159
DO - 10.1049/iet-cta.2016.1159
M3 - 文章
AN - SCOPUS:85014072562
SN - 1751-8644
VL - 11
SP - 576
EP - 585
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
IS - 4
ER -