Containment Control With Different Constraints

This article addresses a containment control problem for discrete-time multiagent systems when position, velocity, and input constraints coexist. A nonlinear distributed containment control algorithm is presented. The main difficulty is how to decouple the nonlinearities caused by the three kinds of...

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Bibliographic Details
Published in:IEEE transactions on control of network systems 2023-06, Vol.10 (2), p.579-585
Main Authors: Tu, Maoyong, Mo, Lipo, Lin, Peng, Jia, Yingmin
Format: Article
Language:English
Subjects:
Algorithms
Computational geometry
Constraint modelling
Containment
Containment control
Control systems
Control theory
convex position constraints
Convexity
Couplings
Directed graphs
Discrete time systems
Multi-agent systems
Multiagent systems
Network systems
nonconvex control input constraints
nonconvex velocity constraints
Nonlinear control
Nonlinearity
Switches
switching topologies
Topology
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Summary:This article addresses a containment control problem for discrete-time multiagent systems when position, velocity, and input constraints coexist. A nonlinear distributed containment control algorithm is presented. The main difficulty is how to decouple the nonlinearities caused by the three kinds of constraints. To prove the convergence of the containment control problem, the distances from the followers to the convex hull spanned by the leaders are analyzed by removing the errors caused by the projection operators and the stochasticities of the equivalent system matrices are explored to show nonincreasing property of the maximum distance. It is shown that containment control can be achieved as long as the convex hull is contained in each position constraint set. Numerical simulations are given to illustrate the obtained theoretical results.
ISSN:2325-5870
2325-5870
2372-2533
DOI:10.1109/TCNS.2022.3144119