Distributed finite-time containment control for second-order multi-agent systems

This paper addresses the finite-time containment control problem for second-order multi-agent systems under a fixed communication topology. First, a new finite-time consensus protocol based on both the relative position and velocity states is provided for achieving finite-time containment control in...

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Bibliographic Details
Main Authors: Zhao Yu, Duan Zhisheng, Wen Guanghui, Zhang Yanjiao
Format: Conference Proceeding
Language:English
Subjects:
Containment Control
Distributed control
Finite-Time Control
Multi-Agent System
Multiagent systems
Observer-Type Protocol
Output feedback
Protocols
State feedback
Topology
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Summary:This paper addresses the finite-time containment control problem for second-order multi-agent systems under a fixed communication topology. First, a new finite-time consensus protocol based on both the relative position and velocity states is provided for achieving finite-time containment control in multi-agent systems in the presence of multiple active leaders. Then, a finite-time observer-type containment control protocol is exploited, where only the relative position states are involved. By using tools from finite-time control theory, it is theoretically shown that the states of the followers will converge to a convex hull spanned by those of the leaders in finite time, if for each follower there exists at least one leader that has a directed path to that follower. The effectiveness of the results are finally illustrated by numerical simulations.
ISSN:1934-1768
2161-2927