Finite-time containment control of multi-agent systems with static or dynamic leaders

This paper establishes a novel finite-time containment control framework for multi-agent systems such that the containment control problem can be solved at any preset time with static or dynamic leaders. In order to reach this goal, nonlinear feedback control protocols are introduced. We prove that the proposed protocols can solve containment problems at the preset time if the communication graph has a spanning forest. Numerical simulations are presented to illustrate the effectiveness of the obtained theoretical results.

[1]  Guanghui Wen,et al.  Distributed finite-time tracking control for multi-agent systems: An observer-based approach , 2013, Syst. Control. Lett..

[2]  Vicsek,et al.  Novel type of phase transition in a system of self-driven particles. , 1995, Physical review letters.

[3]  Long Wang,et al.  Containment control of heterogeneous multi-agent systems , 2014, Int. J. Control.

[4]  Yongcan Cao,et al.  Containment control with multiple stationary or dynamic leaders under a directed interaction graph , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[5]  Giancarlo Ferrari-Trecate,et al.  Containment Control in Mobile Networks , 2008, IEEE Transactions on Automatic Control.

[6]  Long Wang,et al.  Finite-Time Consensus Problems for Networks of Dynamic Agents , 2007, IEEE Transactions on Automatic Control.

[7]  Ziyang Meng,et al.  Distributed finite-time attitude containment control for multiple rigid bodies , 2010, Autom..

[8]  Long Wang,et al.  A novel group consensus protocol for heterogeneous multi-agent systems , 2015, Int. J. Control.

[9]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[10]  Long Wang,et al.  Consensus of heterogeneous multi-agent systems , 2011 .

[11]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[12]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[13]  Guangming Xie,et al.  Controlling anonymous mobile agents with unidirectional locomotion to form formations on a circle , 2014, Autom..

[14]  Long Wang,et al.  Consensus of Switched Multiagent Systems , 2016, IEEE Transactions on Circuits and Systems II: Express Briefs.

[15]  Guangming Xie,et al.  Containment of linear multi-agent systems under general interaction topologies , 2012, Syst. Control. Lett..

[16]  Guangming Xie,et al.  Forming Circle Formations of Anonymous Mobile Agents With Order Preservation , 2013, IEEE Transactions on Automatic Control.

[17]  Zhihong Man,et al.  Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems , 2009, IEEE/ASME Transactions on Mechatronics.

[18]  Stephen P. Boyd,et al.  Fast linear iterations for distributed averaging , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[19]  Jorge Cortés,et al.  Finite-time convergent gradient flows with applications to network consensus , 2006, Autom..

[20]  Li Xiao,et al.  Distributed robust finite‐time attitude containment control for multiple rigid bodies with uncertainties , 2015 .

[21]  Guangming Xie,et al.  Necessary and sufficient conditions for containment control of networked multi-agent systems , 2012, Autom..

[22]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

[23]  Jean-Jacques E. Slotine,et al.  A theoretical study of different leader roles in networks , 2006, IEEE Transactions on Automatic Control.

[24]  Guangming Xie,et al.  Consensus control for a class of networks of dynamic agents , 2007 .

[25]  Long Wang,et al.  Finite-time weighted average consensus with respect to a monotonic function and its application , 2011, Syst. Control. Lett..

[26]  Long Wang,et al.  Finite-time consensus of multiple second-order dynamic agents without velocity measurements , 2014, Int. J. Syst. Sci..

[27]  G. Alefeld,et al.  On square roots of M-matrices , 1982 .