Distributed Robust Global Containment Control of Second-Order Multiagent Systems With Input Saturation

2019 ◽  
Vol 6 (4) ◽  
pp. 1426-1437 ◽  
Author(s):  
Junjie Fu ◽  
Ying Wan ◽  
Guanghui Wen ◽  
Tingwen Huang
Keyword(s):  
Multiagent Systems ◽  
Input Saturation ◽  
Second Order ◽  
Containment Control

scholarly journals Formation-Containment Control of Second-Order Multiagent Systems via Intermittent Communication

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Mao-Dong Xia ◽  
Cheng-Lin Liu ◽  
Fei Liu
Keyword(s):  
Multiagent Systems ◽  
Lyapunov Functions ◽  
Second Order ◽  
Control Algorithms ◽  
Distributed Coordination ◽  
Time Intervals ◽  
Containment Control ◽  
Convergence Conditions ◽  
Intermittent Communication ◽  
Theoretical Results

This paper investigates the formation-containment control of second-order multiagent systems with intermittent communication. Distributed coordination control algorithms are proposed under aperiodic intermittent communication, where each agent only communicates with its neighboring agents on some disconnected time intervals. By means of constructing Lyapunov functions, sufficient convergence conditions are obtained for the leaders reaching a prescribed formation asymptotically and the followers converging into the convex hull formed by leaders asymptotically, respectively. Besides, sufficient convergence conditions are also provided for second-order multiagent systems converging to the desired formation-containment under time-varying communication delay and intermittent communication. Finally, the validity of theoretical results is illustrated by numerical simulations.

scholarly journals A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Xin Zhao ◽  
Xi Ma ◽  
Xiao Ma
Keyword(s):  
Multiagent Systems ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Input Saturation ◽  
Second Order ◽  
Control Protocol ◽  
Sliding Mode Disturbance Observer ◽  
Unmatched Uncertainties ◽  
Matched And Unmatched Uncertainties

In this paper, multiagent tracking control problem of second-order multiagent systems with unknown leader acceleration, input saturation, and matched and unmatched disturbances is investigated. An auxiliary system is constructed to approximate system position states, and a novel sliding mode disturbance observer is designed to estimate matched and unmatched uncertainties. A sliding mode disturbance observer-based control protocol is proposed by constructing a novel sliding mode manifold based on the sliding mode disturbance observer outputs. In addition, the input saturation and the unknown leader acceleration become a part of lumped uncertainties by using mathematic transformation. The lumped uncertainties estimated by the sliding mode disturbance observer are compensated by the sliding mode disturbance observer-based control protocol. Stability of the second-order multiagent systems is guaranteed via Lyapunov method. Finally, a simulation example is proposed to exhibit advantages and availability of the developed techniques.

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