Containment control of multi-agent systems by exploiting the control inputs of neighbors
Shuai Liu, Lihua Xie, Huanshui Zhang · International Journal of Robust and Nonlinear Control · 2013
This paper studies the containment control problem for multi-agent systems consisting of multiple leaders and followers connected as a network. The objective is to design control protocols so that the leaders will converge to a certain desired formation while the followers converge to the convex hull of the leaders. A novel protocol is proposed by exploiting the control input information of neighbors. Both continuous-time and discrete-time systems are considered. For continuous-time systems, it is proved that the protocol is robust to any constant delays of the neighbors' control inputs. For discrete-time systems, a sufficient condition on the feedback gain for the containment control is given in terms of the time delay and graph information. Some numerical examples are given to demonstrate the results. Copyright © 2013 John Wiley & Sons, Ltd.