Multi-agent containment control with input saturation on switching topologies

Housheng Su; Michael Z. Q. Chen

Multi-agent containment control with input saturation on switching topologies

View Fulltext

Author(s): Housheng Su ¹ and Michael Z. Q. Chen ²
- Affiliations: 1: School of Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan 430074, People's Republic of China;
  2: Department of Mechanical Engineering, The University of Hong Kong, Hong Kong
Source: Volume 9, Issue 3, 05 February 2015, p. 399 – 409
DOI: 10.1049/iet-cta.2014.0393 , Print ISSN 1751-8644, Online ISSN 1751-8652

Received 10/04/2014, Accepted 15/10/2014, Revised 01/10/2014, Published 06/01/2015

This study aims to investigate containment control of linear multi-agent systems with input saturation on switching topologies. For such a multi-agent system, both state feedback and output feedback containment control protocols are proposed via a novel low-gain feedback approach. Consequently, the authors show that, under the assumption that the switching networks are jointly connected, semi-global state feedback and output feedback containment control of the multi-agent system can be attained. The effectiveness of the proposed algorithms is illustrated via numerical examples.

References

1. 1)
  - 12. Chen, Z., Zhang, H.T.: ‘No-beacon collective circular motion of jointly connected multi-agents’, Automatica, 2011, 47, (9), pp. 1929–1937 (doi: 10.1016/j.automatica.2011.03.012).
2. 2)
  - K. You , L. Xie . Coordination of discrete-time multi-agent systems via relative output feedback. Int. J. Robust Nonlinear Control , 13 , 1587 - 1605
3. 3)
  - 33. Lin, Z.: ‘Low gain feedback’ (Lecture Notes in Control and Information Sciences, 240) (Springer, London, 1998).
4. 4)
  - 28. Su, H., Chen, M.Z.Q., Lam, J., Lin, Z.: ‘Semi-global leader-following consensus of linear multi-agent systems with input saturation via low gain feedback’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2013, 60, (7), pp. 1881–1889 (doi: 10.1109/TCSI.2012.2226490).
5. 5)
  - K. You , L. Xie . Network topology and communication data rate for consensusability of discrete-time multi-agent systems. IEEE Trans. Autom. Control , 10 , 2262 - 2275
6. 6)
  - 16. Su, H., Chen, H., Wang, X., Jam, L.: ‘Semi-global observer-based leader-following consensus with input saturation’, IEEE Trans. Ind. Electr., 2014, 61, (6), pp. 2842–2850 (doi: 10.1109/TIE.2013.2275976).
7. 7)
  - 28. Mei, J., Ren, W., Ma, F.G.: ‘Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph’, Automatica, 2012, 48, (4), pp. 653–659 (doi: 10.1016/j.automatica.2012.01.020).
8. 8)
  - Z. Meng , W. Ren , Z. You . Distributed finite-time attitude containment control for multiple rigid bodies. Automatica , 12 , 2092 - 2099
9. 9)
  - D.V. Dimarogonas , P. Tsiotras , K.J. Kyriakopoulos . Leader-follower cooperative attitude control of multiple rigid bodies. Syst. Control Lett. , 6 , 429 - 435
10. 10)
  - R. Olfati-Saber . Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans. Autom. Control , 3 , 401 - 420
11. 11)
  - 19. Cao, Y.C., Ren, W., Egerstedt, M.: ‘Distributed containment control with multiple stationary or dynamic leaders in fixed and switching directed networks’, Automatica, 2012, 48, (8), pp. 1586–1597 (doi: 10.1016/j.automatica.2012.05.071).
12. 12)
  - W. Ren , R.W. Beard . Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Control , 5 , 655 - 661
13. 13)
  - 20. Zheng, Y., Wang, L.: ‘Consensus of heterogeneous multi-agent systems without velocity measurements’, Int. J. Control, 2012, 85, (7), pp. 906–914 (doi: 10.1080/00207179.2012.669048).
14. 14)
  - 20. Cao, Y.C., Stuart, D., Ren, W., Meng, Z.Y.: ‘Distributed containment control for multiple autonomous vehicles with double-integrator dynamics: algorithm and experiments’, IEEE Trans. Control Syst. Technol., 2011, 19, (4), pp. 929–938 (doi: 10.1109/TCST.2010.2053542).
15. 15)
  - Y. Zheng , Y. Zhu , L. Wang . Consensus of heterogeneous multi-agent systems. IET Control Theory Appl. , 1881 - 1888
16. 16)
  - 22. Li, Z.K., Ren, W., Liu, X.D., Fu, M.Y.: ‘Distributed containment control of multi-agent systems with general linear dynamics in the presence of multiple leaders’, Int. J. Robust Nonlinear Control, 2013, 23, (5), pp. 534–547 (doi: 10.1002/rnc.1847).
17. 17)
  - 25. Li, J., Ren, W., Xu, S.: ‘Distributed containment control with multiple dynamic leaders for double-integrator dynamics using only position measurements’, IEEE Trans. Autom. Control, 2012, 57, (6), pp. 1553–1559 (doi: 10.1109/TAC.2011.2174680).
18. 18)
  - W. Ren , R.W. Beard , E.M. Atkins . Information consensus in multivehicle cooperative control. IEEE Control Syst. Mag. , 2 , 71 - 82
19. 19)
  - 18. Liu, H., Xie, G., Wang, L.: ‘Containment of linear multi-agent systems under general interaction topologies’, Syst. Control Lett., 2012, 61, (4), pp. 528–534 (doi: 10.1016/j.sysconle.2012.01.012).
20. 20)
  - R. Olfati-Saber , R.M. Murray . Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans. Autom. Control , 9 , 1520 - 1533
21. 21)
  - Y. Li , J. Xiang , W. Wei . Consensus problems for linear time-invariant multi-agent systems with saturation constraints. IET Control Theory Appl. , 6 , 823 - 829
22. 22)
  - T. Vicsek , A. Czirok , E. Ben-Jacob , I. Cohen , O. Shochet . Novel type of phase transition in a system of self-driven particles. Phys. Rev. Lett. , 1226 - 1229
23. 23)
  - H. Su , G. Chen , X. Wang , Z. Lin . Adaptive second-order consensus of networked mobile agents with nonlinear dynamics. Automatica , 2 , 368 - 375
24. 24)
  - H. Su , X. Wang , Z. Lin . Flocking of multi-agents with a virtual leader. IEEE Trans. Autom. Control , 293 - 307
25. 25)
  - V. Gazi , K.M. Passino . Stability analysis of swarms. IEEE Trans. Autom. Control , 4 , 692 - 697
26. 26)
  - 17. Ji, M., Ferrari-Trecate, G., Egerstedt, M., Buffa, A.: ‘Containment control in mobile networks’, IEEE Trans. Autom. Control, 2008, 53, (8), pp. 1972–1975 (doi: 10.1109/TAC.2008.930098).
27. 27)
  - 12. Zhang, H., Zhai, C., Chen, Z.: ‘A general alignment repulsion algorithm for flocking of multi-agent systems’, IEEE Trans. Autom. Control, 2011, 56, pp. 430–435 (doi: 10.1109/TAC.2010.2089652).
28. 28)
  - A. Nedic , A. Ozdaglar , P.A. Parrilo . Constrained consensus and optimization in multi-agent networks. IEEE Trans. Autom. Control , 4 , 922 - 937
29. 29)
  - 15. Fan, M., Chen, Z., Zhang, H.: ‘Semi-global consensus of nonlinear second-order multi-agent systems with measurement output feedback’, IEEE Trans. Autom. Control, 2014, 59, pp. 2222–2227 (doi: 10.1109/TAC.2014.2299351).
30. 30)
  - Z. Li , Z. Duan , G. Chen , L. Huang . Consensus of multiagent systems and synchronization of complex networks: a unified viewpoint. IEEE Trans. Circuits Syst. I, Regul. Pap. , 213 - 224
31. 31)
  - 25. Abdessameud, A., Tayebi, A.: ‘On consensus algorithms for double-integrator dynamics without velocity measurement and with input constraints’, Syst. Control Lett., 2010, 59, (12), pp. 812–821 (doi: 10.1016/j.sysconle.2010.06.019).
32. 32)
  - 2. Reynolds, C.W.: ‘Flocks, herds, and schools: a distributed behavioral model’. Computer Graphics, ACM SIGGRAPH 87 Conf. Proc., 1987, vol. 21, pp. 25–34.
33. 33)
  - W. Ren . On consensus algorithms for double-integrator dynamics. IEEE Trans. Autom. Control , 6 , 1503 - 1509

Login

Not registered yet?

Share

Tools

Login to add to favourites

Key

Multi-agent containment control with input saturation on switching topologies

References

Related content