Formation-containment control of multi-agent systems with communication delays

被引：38

作者：

Chen, Liangming ^{[1
]}

Li, Chuanjiang ^{[1
]}

Guo, Yanning ^{[1
]}

Ma, Guangfu ^{[1
]}

Li, Yanan ^{[1
]}

Xiao, Bing ^{[2
]}

机构：

[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Peoples R China

[2] Northwestern Polytech Univ, Sch Automat, Xian 710072, Peoples R China

来源：

ISA TRANSACTIONS | 2022年 / 128卷

基金：

中国国家自然科学基金;

关键词：

Multi-agent systems; Formation-containment; Euler-Lagrange system; Communication delays; EULER-LAGRANGE SYSTEMS; OUTPUT FORMATION-CONTAINMENT; CONSENSUS; SYNCHRONIZATION; INFORMATION; LEADER; DESIGN;

D O I：

10.1016/j.isatra.2021.09.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper designs formation-containment control algorithms for a class of second-order nonlinear multi-agent systems governed by Euler-Lagrange dynamics with communication delays. The formation-containment problem consists of leader agents' formation control and follower agents' containment control. Firstly, to make the leaders form a desired formation and move collectively with a constant velocity, a coordinated formation control algorithm is designed and the variablegain technique is used to eliminate the effect of communication delays on the leaders' formation control. Secondly, considering that only the leaders have access to the desired moving velocity, we propose distributed velocity estimators for followers in which the communication delays also exist in the followers' information interaction. By using the estimated velocity information, coordinated containment control laws are designed for the followers to drive them asymptotically converge to the convex hull spanned by all leaders. Furthermore, to increase the system robustness against uncertainties and external disturbances, the adaptive updating laws are designed for all agents. Finally, simulations are given to demonstrate these obtained results.(c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：32 / 43

页数：12

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