Event-triggered containment control of second-order nonlinear multi-agent systems

Abstract This paper investigates the event-triggered containment control for a class of second-order nonlinear multi-agent systems. A centralized event-triggered protocol is first designed, then the result is extended to the decentralized counterpart. By the tools from nonsmooth analysis, it is shown that the containment control objective can be achieved via the presented protocols. To avoid the Zeno behavior, the event-triggered conditions are redesigned. It is proven that all followers can asymptotically converge to the convex hull spanned by multiple leaders via the proposed strategies and the Zeno behavior can be excluded, simultaneously. Two examples are given to illustrate the feasibility of the proposed protocols.

[1]  Zhengrong Xiang,et al.  Event-triggered distributed containment control of heterogeneous linear multi-agent systems by an output regulation approach , 2017, Int. J. Syst. Sci..

[2]  Zhang Ren,et al.  Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying , 2017, IEEE Transactions on Industrial Electronics.

[3]  W. P. M. H. Heemels,et al.  Event-triggered control systems under packet losses , 2017, Autom..

[4]  Bing Li,et al.  Distributed Containment Control for Multiple Unknown Second-Order Nonlinear Systems With Application to Networked Lagrangian Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[5]  B. Paden,et al.  Lyapunov stability theory of nonsmooth systems , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[6]  Lixin Gao,et al.  Distributed adaptive containment control of heterogeneous linear multi-agent systems: an output regulation approach , 2016 .

[7]  Yang Tang,et al.  Event-Triggering Containment Control for a Class of Multi-Agent Networks With Fixed and Switching Topologies , 2017, IEEE Transactions on Circuits and Systems I: Regular Papers.

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

[9]  Ping Wang,et al.  Adaptive containment control of second-order multi-agent systems with nonlinear dynamics and multiple input-bounded leaders , 2015, Int. J. Syst. Sci..

[10]  Mohammad Ali Badamchizadeh,et al.  Adaptive containment control of nonlinear multi-agent systems with non-identical agents , 2015, Int. J. Control.

[11]  Zhang Ren,et al.  Formation‐containment analysis and design for high‐order linear time‐invariant swarm systems , 2015 .

[12]  Ya-Jun Pan,et al.  Event-Triggered Control for Consensus Problem in Multi-Agent Systems With Quantized Relative State Measurements and External Disturbance , 2018, IEEE Transactions on Circuits and Systems I: Regular Papers.

[13]  Zhang Ren,et al.  Output formation-containment analysis and design for general linear time-invariant multi-agent systems , 2016, J. Frankl. Inst..

[14]  Yan-Wu Wang,et al.  Output formation-containment of coupled heterogeneous linear systems under intermittent communication , 2017, J. Frankl. Inst..

[15]  Karl Henrik Johansson,et al.  Distributed Event-Triggered Control for Multi-Agent Systems , 2012, IEEE Transactions on Automatic Control.

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

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

[18]  Hongyong Yang,et al.  Distributed adaptive containment control for high-order nonlinear multi-agent systems , 2019, Int. J. Control.

[19]  Paulo Tabuada,et al.  Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks , 2007, IEEE Transactions on Automatic Control.

[20]  Zengqiang Chen,et al.  Distributed containment control for bounded unknown second-order nonlinear multi-agent systems with dynamic leaders , 2015, Neurocomputing.

[21]  Zhe Yang,et al.  Containment control of general multi-agent systems with directed random switching topology , 2015, J. Frankl. Inst..

[22]  Long Wang,et al.  Consensus of Hybrid Multi-Agent Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[23]  X. Dong,et al.  Formation‐containment analysis and design for high‐order linear time‐invariant swarm systems , 2015 .

[24]  Changchun Hua,et al.  Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems , 2017, IEEE Transactions on Cybernetics.

[25]  S. Sastry,et al.  A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators , 1987 .

[26]  Jinde Cao,et al.  Event-triggered containment control for multi-agent systems with constant time delays , 2017, J. Frankl. Inst..

[27]  Yisheng Zhong,et al.  Time-varying formation control for unmanned aerial vehicles with switching interaction topologies , 2014, 2014 International Conference on Unmanned Aircraft Systems (ICUAS).

[28]  Mohammad Ali Badamchizadeh,et al.  Containment control of heterogeneous linear multi-agent systems , 2015, Autom..

[29]  Gang Feng,et al.  Distributed containment tracking of multiple stochastic nonlinear systems , 2016, Autom..

[30]  Yang Liu,et al.  Event-Triggered Control for the Disturbance Decoupling Problem of Boolean Control Networks , 2018, IEEE Transactions on Cybernetics.

[31]  Zheng-Guang Wu,et al.  Event-Triggered Control for Consensus of Multiagent Systems With Fixed/Switching Topologies , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[32]  Jinzhi Wang,et al.  Robust finite-time containment control of general linear multi-agent systems under directed communication graphs , 2016, J. Frankl. Inst..

[33]  W. P. M. H. Heemels,et al.  Output-Based Event-Triggered Control with Performance Guarantees , 2017, IEEE Transactions on Automatic Control.

[34]  Jun Guo,et al.  Secrecy Constrained Distributed Detection in Sensor Networks , 2018, IEEE Transactions on Signal and Information Processing over Networks.

[35]  Wei Xing Zheng,et al.  Containment Control for Second-Order Multiagent Systems Communicating Over Heterogeneous Networks , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[36]  T. Apostol.  Mathematical Analysis , 1957 .

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

[38]  Guoqiang Hu,et al.  Time-varying formation control for general linear multi-agent systems with switching directed topologies , 2016, Autom..

[39]  Hao Liu,et al.  Guaranteed‐cost consensus for multiagent networks with Lipschitz nonlinear dynamics and switching topologies , 2018, ArXiv.

[40]  Qiusheng Li,et al.  Adaptive tracking control for a class of nonlinear non-strict-feedback systems , 2017 .

[41]  Bo Wei,et al.  Event-triggered control for synchronization of coupled harmonic oscillators , 2016, Syst. Control. Lett..

[42]  Qi Wang,et al.  Fully distributed containment control of high-order multi-agent systems with nonlinear dynamics , 2017, Syst. Control. Lett..

[43]  Youxian Sun,et al.  Observer-based event-triggered containment control of multi-agent systems with time delay , 2017, Int. J. Syst. Sci..