Containment control of general linear multi-agent systems with multiple dynamic leaders: A fast sliding mode based approach

被引：23

作者：

Liu, Huiyang ^{[1
]}

Cheng, Long ^{[1
]}

Tan, Min ^{[1
]}

Hou, Zengguang ^{[1
]}

机构：

[1] State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing

来源：

| 1600年 / Institute of Electrical and Electronics Engineers Inc.卷 / 01期

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

containment control; cooperative control; exponential finite time; fast terminal sliding mode; Multi-agent systems;

D O I：

10.1109/JAS.2014.7004542

中图分类号：

学科分类号：

摘要：

In this paper, distributed containment control problems of general linear multi-agent systems are investigated. The objective is to make the followers in a multi-agent network converge to the convex hull spanned by some leaders whose control inputs are nonzero and not available to any followers. Sliding mode surfaces are defined for the cases of reduced order and non-reduced order, respectively. For each case, fast sliding mode controllers are designed. It is shown that all the error trajectories exponentially reach the sliding mode surfaces in a finite time if for each follower, there exists at least one of the leaders who has a directed path to the follower, and the leaders' control inputs are bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results. © 2014 Chinese Association of Automation.

引用

页码：134 / 140

页数：6

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