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Distributed containment control for first‐order and second‐order multiagent systems with arbitrarily bounded delays
Author(s) -
Xiong Quan,
Lin Peng,
Chen Zhiyong,
Ren Wei,
Gui Weihua
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4426
Subject(s) - convex hull , convexity , bounded function , containment (computer programming) , monotonic function , computer science , mathematical optimization , path (computing) , control (management) , hull , order (exchange) , regular polygon , multi agent system , control theory (sociology) , mathematics , engineering , mathematical analysis , geometry , finance , artificial intelligence , marine engineering , financial economics , economics , programming language
Summary This paper studies containment control with communication delays and switching topologies. Firstly, a containment control algorithm for first‐order discrete‐time followers is proposed. Then, it is extended to handle double‐integrator dynamics. The main approach is to use the convexity of the convex hull spanned by multiple stationary leaders to verify the nonincreasing monotonicity of the largest distance from the followers to the convex hull. It is shown that both algorithms are robust to arbitrarily bounded communication delays as long as each follower jointly has a path from some leaders to itself. Finally, a numerical example is implemented to illustrate the effectiveness of the theoretical results.