Fixed-Time Formation-Containment Control for Multi-Agent Systems
Tong Yuan, Yang Liu · 2018
The fixed-time formation-containment control is studied for multi-agent systems with single-integrator dynamics in this paper. To be specific, the positions of leaders are required to realize the expected formation and the positions of followers are designed to enter the convex hull formed by the leaders at the same time. With the neighboring condition information, the protocols are designed for both time-invariant and time-varying formation cases to realize the fixed-time formation-containment. Then for the two cases, the multi-agent system can simultaneously realize the prescribed formation and containment performance within a prescribed settling time that is regardless of initial conditions, which is demonstrated by mathematical deduction. Simulations are included to prove the effectiveness of our control protocols.