Distributed PD-type protocol based containment control of multi-agent systems with input delays

被引：21

作者：

Rong, Lina ^{[1
]}

Shen, Hao ^{[2
]}

机构：

[1] Nanjing Univ Posts & Telecommun, Sch Automat, Nanjing 210023, Jiangsu, Peoples R China

[2] Anhui Univ Technol, Sch Elect & Informat Engn, Maanshan 243002, Peoples R China

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2015年 / 352卷 / 09期

基金：

中国国家自然科学基金;

关键词：

INTERACTION TOPOLOGIES; DYNAMICAL NETWORKS; TIME-DELAYS; CONSENSUS; SYNCHRONIZATION; CONSTRAINTS; AVERAGE; AGENTS;

D O I：

10.1016/j.jfranklin.2014.10.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we investigate the containment control problem with directed communication topologies and time delays. Compared with the widely used containment controller, a distributed PD-type protocol based on the information of neighbors considering the effects of input delays is adopted. A parameter condition for the containment control problem is provided; it is shown that under this condition, the states of the followers will asymptotically converge to the convex hull spanned by the states of leaders if the graph has a directed spanning forest. Then, based on the provided parameter condition, the maximal upper bound of the input delays is obtained by using the pole analysis method. Finally, the numerical examples are used to illustrate the theoretical results. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：3600 / 3611

页数：12

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