Containment control of linear multi-agent systems using continuum models

This paper deals with the containment control problem for linear multi-agent systems (MAS) using continuum models. In this cooperative control problem, a networked controller for the MAS must be determined, which ensures the convergence of the agents into an area spanned by dynamic leaders the so called containment area in the presence of disturbances. This task is traced back to an output regulation problem for a continuum model independent of the number of agents. Any agent formation, which can be described by a Bezier curve, can be specified to the followers in the containment area. The associated design of the tracking controller is carried out by means of bilateral backstepping, which allows to distribute the control effort between the two boundary agents. The distributed solution of the containment problem results from a continuum signal model observer, which communicates the states of the leader and disturbance model to all agents. The associated communication topology is imprinted by a spatial discretization. A simulation example illustrates the new method for the networked controller design.