Multiagent Containment Control With Nonconvex States Constraints, Nonuniform Time Delays, and Switching Directed Networks

This brief studies the constrained containment control problem of continuous-time multiagent systems with nonconvex states constraints, nonuniform time delays, and switching directed networks. A distributed containment control algorithm consisting of nonlinear projection, nonlinear constraints, and...

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Bibliographic Details
Published in:IEEE transaction on neural networks and learning systems 2020-11, Vol.31 (11), p.5021-5028
Main Authors: Huang, Yi, Duan, Mengmeng, Mo, Lipo
Format: Article
Language:English
Subjects:
Algorithms
Computational geometry
Constraints
Containment
Containment control
Control algorithms
Control theory
Convexity
Delay effects
Delays
Learning systems
Liapunov functions
Multi-agent systems
Multiagent systems
Network topology
Networks
nonconvex states constraints
Nonlinear control
nonuniform time delays
Switches
Switching
switching directed networks
Timing
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Summary:This brief studies the constrained containment control problem of continuous-time multiagent systems with nonconvex states constraints, nonuniform time delays, and switching directed networks. A distributed containment control algorithm consisting of nonlinear projection, nonlinear constraints, and communication delays is proposed. Based on the model transformation technique, convex analysis method, and the Lyapunov function, we prove that all agents finally converge into the convex hull formed by the given stationary points with arbitrarily bounded communication delays and arbitrarily switching networks as long as each agent jointly has at least one path from the given points to itself. Finally, a numerical example is included to show the effectiveness of theoretical results.
ISSN:2162-237X
2162-2388
DOI:10.1109/TNNLS.2019.2955678