Containment control of linear multi‐agent systems with directed graphs and multiple leaders of time‐varying bounded inputs
Feng Zhou, Zhengjie Wang · IET Control Theory and Applications · 2015
This study addresses containment control problem for multi‐agent systems with general linear dynamics. The main contribution of this study is to solve the containment control problem with multiple leaders whose control inputs might be non‐zero, time varying, and the interaction graph among the followers is directed. On the basis of the neighbouring state information, a distributed static containment controller is designed, the containment error asymptotically converges to zero if the subgraph associated with the followers is directed and at least one leader has a directed path to each follower. Then, an observer‐based adaptive containment controller is proposed without knowing any global information about the topology, especially the eigenvalues of the Laplacian matrix. Simulations indicate the capabilities of the algorithm.