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Distributed containment control for first-order and second-order multi-agent systems with delays and
Wei Cui1, Ning Gao1, Yikang Yang1
1School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
ISA Transactions
|November 14, 2024
Summary
This study presents a distributed control strategy for multi-agent systems, ensuring followers remain within leader-defined boundaries despite delays and changing network structures. The method guarantees containment control under specified communication conditions.
Area of Science:
- Control Theory
- Networked Systems
- Robotics
Background:
- Multi-agent systems require robust control strategies for coordinated behavior.
- Challenges include position constraints, time delays, and dynamic communication networks.
Purpose of the Study:
- To develop a discrete-time containment control scheme for first and second-order multi-agent systems.
- To address complexities of position constraints, nonuniform time delays, and switching topologies.
Main Methods:
- Utilized projection operators to enforce agent position constraints.
- Employed model transformation and stochastic matrix properties to manage nonlinearities from constraints and delays.
- Designed distributed, projection-based control using local agent information.
Main Results:
- Achieved convergence of follower states within the convex hull of leader states.
- Demonstrated theoretical guarantees for containment under specific communication topology conditions (directed spanning tree).
- Validated the control scheme through numerical simulations.
Conclusions:
- The proposed distributed projection-based control effectively solves the discrete-time containment control problem.
- The approach is robust to position constraints, time delays, and switching topologies.
- Confirms the theoretical findings through practical simulation examples.
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