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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.

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Summary
This summary is machine-generated.

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.

Keywords:
Communication delayContainment controlFully distributed controlSecond-order multi-agent systems

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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.