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Semi-global and global containment control of multi-agent systems with second-order dynamics and input saturation
College of Electrical Engineering, Henan University of Technology, Zhengzhou.
School of Information Engineering, Huanghuai University, Henan.
School of Automation, Huazhong University of Science and Technology, Wuhan.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.ORCID iD: 0000-0003-1902-9877
Number of Authors: 42016 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 36, no 16, p. 3460-3480Article in journal (Refereed) Published
Abstract [en]

This paper considers both semi-global and global containment control for a second-order multi-agent system that is composed by a network of identical harmonic oscillators or double integrators with multiple leaders and input saturation. A distributed low gain feedback algorithm is proposed to solve the semi-global containment control problem for the network whose topology is directed and initial condition is taken from any a priori given bounded set. In particular, by using a parametric Lyapunov equation approach, M-matrix properties and algebraic graph theory, an upper bound of the low gain parameter is estimated such that the low gain feedback matrix can be analytically determined without involving numerical computation. Furthermore, under the assumption that the induced subgraph formed by the followers is strongly connected and detail balanced, two linear feedback protocols are designed for coupled harmonic oscillators and coupled double integrators, respectively, to asymptotically achieve the global containment control of the network with any initial condition. Finally, numerical examples are given to illustrate the effectiveness of the theoretical results

Place, publisher, year, edition, pages
2016. Vol. 36, no 16, p. 3460-3480
National Category
Media and Communication Technology
Research subject
Mobile and Pervasive Computing
Identifiers
URN: urn:nbn:se:ltu:diva-2551DOI: 10.1002/rnc.3515ISI: 000385851100002Scopus ID: 2-s2.0-84991508811Local ID: 02c4bb63-ce88-4048-9433-e2b84c627b1bOAI: oai:DiVA.org:ltu-2551DiVA, id: diva2:975404
Note

Validerad; 2016; Nivå 2; 2016-11-03 (andbra)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved

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Vasilakos, Athanasios

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