Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 87, Issue 1, Pages 1-8Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2013.814074
Keywords
heterogeneous multi-agent system; containment control; consensus; finite time; directed graph
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Funding
- 973 Programme [2012CB821203]
- NSFC [61020106005, 10972002, 61104212]
- Fundamental Research Funds for Central Universities [K5051304031]
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In this paper, we consider the containment control problem for a group of autonomous agents modelled by heterogeneous dynamics. The communication networks among the leaders and the followers are directed graphs. When the leaders are first-order integrator agents, we present a linear protocol for heterogeneous multi-agent systems such that the second-order integrator agents converge to the convex hull spanned by the first-order integrator agents if and only if the directed graph contains a directed spanning forest. If the leaders are second-order integrator agents, we propose a nonlinear protocol and obtain a necessary and sufficient condition that the heterogeneous multi-agent system solves the containment control problem in finite time. Simulation examples are also provided to illustrate the effectiveness of the theoretical results.
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