Output Formation-containment Control of Multiple Agents with Leaders of Unknown Inputs over Switching Topologies
Panpan Zhou, Ben M. Chen · 2020
This paper studies the problem of output formation-containment control of multiple linear systems over switching interaction networks, and the leader agents have bounded unknown inputs. The observer that estimate the bounds of the control inputs of the leaders and the control law are both designed in a distributed way, which means the information of the leaders is only available to partial followers. In the control law, a discontinuous function is proposed to suppress the unknown inputs of the leaders. Although some achievements on the containment control problem over switching topologies are made in many works, it is hard for the agents to converge to a specific configuration. To solve this problem, a principle of selection of the leader agents is given, under which the Laplacian matrices of the topologies share a common property that directly related to the formation configuration. The convergence analysis shows that the formation-containment control problem over switching networks is solvable if the dwell time for the networks is greater than a fixed threshold.