Coordination Control for a Class of Multi-Agent Systems Under Asynchronous Switching

This paper studies the coordination control of nonlinear multi-agent systems under asynchronous switching, including consensus, tracking control, and containment. The asynchronous switching considered here means that the switching of the controller lags behind the mode’s switching for each agent. So...

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Bibliographic Details
Published in:Journal of systems science and complexity 2019-08, Vol.32 (4), p.1019-1038
Main Authors: Zhao, Xiaodan, Liu, Wenhui, Yang, Chunjie
Format: Article
Language:English
Subjects:
Complex Systems
Computer simulation
Containment
Control
Control systems
Controllers
Convexity
Coordination
Hulls
Mathematics
Mathematics and Statistics
Mathematics of Computing
Multiagent systems
Nonlinear control
Nonlinear systems
Operations Research/Decision Theory
Statistics
Switching
Systems Theory
Tracking control
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Summary:This paper studies the coordination control of nonlinear multi-agent systems under asynchronous switching, including consensus, tracking control, and containment. The asynchronous switching considered here means that the switching of the controller lags behind the mode’s switching for each agent. So the matched controller is interrupted by the delayed switching. For the situation, the authors give some new results by applying the conventional distributed control protocol. The authors show that all agents can achieve consensus. Secondly, the authors show that all followers can track the actual leader. Thirdly, the authors show that all followers will converge to the convex hull spanned by the dynamic leaders as time goes on. Numerical simulations are also provided and the results show highly consistent with the theoretical results.
ISSN:1009-6124
1559-7067
DOI:10.1007/s11424-018-7311-9