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Fully distributed containment control for second-order multi-agent systems with communication delay.
Fu-Yong Wang1, Yuan-Hua Ni1, Zhong-Xin Liu1
1College of Artificial Intelligence, Nankai University, Tianjin, 300350, China; Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China.
This study introduces novel distributed control protocols for multi-agent systems, ensuring containment control even with communication delays. These methods bypass the need for global network information, enhancing system robustness.
Area of Science:
- Control Theory
- Networked Systems
- Robotics
Background:
- Multi-agent systems (MAS) are crucial for complex tasks.
- Distributed control is essential for MAS scalability and robustness.
- Containment control ensures agents remain within a defined region.
Purpose of the Study:
- To investigate fully distributed containment control for MAS with double-integrator dynamics.
- To design control protocols that do not require global topology information.
- To analyze the impact of communication delays on containment control.
Main Methods:
- Development of two novel fully distributed control protocols.
- Analysis under directed communication topologies.
- Derivation of necessary and sufficient conditions for solvability.
- Identification of critical communication delay thresholds.
Main Results:
- Successfully designed distributed control protocols for MAS with and without communication delays.
- Established conditions for guaranteed containment control.
- Determined the maximum allowable communication delay for stable containment.
- Validated theoretical findings through numerical simulations.
Conclusions:
- The proposed distributed control protocols are effective for MAS containment control.
- The developed conditions provide a theoretical basis for system design.
- The findings are crucial for practical applications of MAS in dynamic environments.

