期刊
IET CONTROL THEORY AND APPLICATIONS
卷 9, 期 16, 页码 2466-2473出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2014.0634
关键词
linear systems; directed graphs; time-varying systems; control system synthesis; convergence; adaptive control; eigenvalues and eigenfunctions; matrix algebra; multi-robot systems; multi-agent systems; distributed control; linear multiagent system; directed graph; multiple leader; time-varying bounded input; linear dynamics; containment control problem; distributed static containment controller; containment error; observer-based adaptive containment controller; topology; eigenvalues; Laplacian matrix
资金
- Aeronautical Science Foundation of China [2013ZC72006]
This study addresses containment control problem for multi-agent systems with general linear dynamics. The main contribution of this study is to solve the containment control problem with multiple leaders whose control inputs might be non-zero, time varying, and the interaction graph among the followers is directed. On the basis of the neighbouring state information, a distributed static containment controller is designed, the containment error asymptotically converges to zero if the subgraph associated with the followers is directed and at least one leader has a directed path to each follower. Then, an observer-based adaptive containment controller is proposed without knowing any global information about the topology, especially the eigenvalues of the Laplacian matrix. Simulations indicate the capabilities of the algorithm.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据