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Parametric Dynamic Distributed Containment Control of Continuous-Time Linear Multi-Agent Systems with Specified

Fei Yan1, Siyi Feng1, Xiangbiao Liu1

  • 1College of Information Science and Technology, Southwest Jiaotong University, Chengdu 611756, China.

Sensors (Basel, Switzerland)
|March 11, 2023
PubMed
Summary

This study presents a novel distributed control protocol for multi-agent systems (MASs) to achieve containment control with multiple leaders. The method ensures specified convergence speeds and offers robustness against virtual layer failures.

Keywords:
containment controlcontinuous-time MASconvergence speeddominant poles assignment

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Area of Science:

  • Control Theory
  • Systems Engineering
  • Robotics

Background:

  • Multi-agent systems (MASs) are crucial for complex tasks.
  • Distributed containment control aims to steer agents towards a common region.
  • Existing methods face challenges with multiple leaders and dynamic uncertainties.

Purpose of the Study:

  • To develop a distributed containment control protocol for continuous-time linear MASs with multiple leaders.
  • To ensure specified convergence rates for the containment process.
  • To provide a control strategy robust to virtual layer failures.

Main Methods:

  • A parametric dynamic compensated distributed control protocol is proposed.
  • Utilizes information from a virtual layer observer and adjacent agents.
  • Employs standard linear quadratic regulator (LQR) for necessary and sufficient conditions.
  • Applies modified linear quadratic regulator (MLQR) and Geršgorin's circle criterion for dominant pole configuration.
  • Incorporates inverse optimal control for static control reduction upon virtual layer failure.

Main Results:

  • Achieved distributed containment control for MASs with multiple leaders over fixed topology.
  • Enabled specification of convergence speed through dominant pole assignment.
  • Demonstrated a robust control protocol that can reduce to a static form upon virtual layer failure, maintaining specified convergence.
  • Validated the theoretical results with numerical examples.

Conclusions:

  • The proposed distributed control protocol effectively achieves containment control for MASs with multiple leaders.
  • The method allows for precise control over convergence speed.
  • The protocol exhibits resilience to virtual layer failures, offering a reliable control solution.