Containment-rendezvous Control for First-order Multi-agent Systems
Mingyang Huang, Cheng‐Lin Liu · 2020
This paper focus on containment-rendezvous issue of discrete-time first-order multi-agent system, which means all followers converge to an agreement point that belongs to the convex hull consisting of leaders. A proportional-integral (PI) coordination control protocol is constructed for followers achieving the asymptotic containment-rendezvous, and sufficient convergence conditions on the gain parameters are presented with the help of frequency-domain analysis approaches. A numerical simulation example is provided to exhibit the effectiveness of results.