TY - GEN
T1 - Formation-containment control for general linear multi-agent systems with time-varying delays and switching topologies
AU - Zhou, Shiyu
AU - Hua, Yongzhao
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/9
Y1 - 2020/10/9
N2 - Formation-containment control problems for general linear multi-agent systems with time-varying delays and switching topologies are studied. The leaders are required to accomplish a given time-varying formation and the followers are allowed to enter the convex envelope spanned by those of the leaders simultaneously. Firstly, formation-containment protocols based on distributed state observer with switching interaction topologies and time-varying delays are presented for leaders and followers respectively, where an edge-based state observer is presented for each follower to estimate the whole states of all the leaders under the influences of switching interaction topologies and time-varying delays. Then, formation- containment problems are transformed into asymptotic stability problems. Furthermore, an algorithm to determine the gain matrices in the protocols is given based on linear matrix inequality technique and common Lyapunov-Krasovskii stability theory. Sufficient conditions for multi-agent systems to achieve formation-containment under the designed protocol are proposed. Finally, numerical simulations are provided to demonstrate theoretical results.
AB - Formation-containment control problems for general linear multi-agent systems with time-varying delays and switching topologies are studied. The leaders are required to accomplish a given time-varying formation and the followers are allowed to enter the convex envelope spanned by those of the leaders simultaneously. Firstly, formation-containment protocols based on distributed state observer with switching interaction topologies and time-varying delays are presented for leaders and followers respectively, where an edge-based state observer is presented for each follower to estimate the whole states of all the leaders under the influences of switching interaction topologies and time-varying delays. Then, formation- containment problems are transformed into asymptotic stability problems. Furthermore, an algorithm to determine the gain matrices in the protocols is given based on linear matrix inequality technique and common Lyapunov-Krasovskii stability theory. Sufficient conditions for multi-agent systems to achieve formation-containment under the designed protocol are proposed. Finally, numerical simulations are provided to demonstrate theoretical results.
KW - Formation-containment control
KW - general linear multi-agent systems
KW - switching topologies
KW - time-varying delays
UR - https://www.scopus.com/pages/publications/85098055008
U2 - 10.1109/ICCA51439.2020.9264576
DO - 10.1109/ICCA51439.2020.9264576
M3 - 会议稿件
AN - SCOPUS:85098055008
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1112
EP - 1117
BT - 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
PB - IEEE Computer Society
T2 - 16th IEEE International Conference on Control and Automation, ICCA 2020
Y2 - 9 October 2020 through 11 October 2020
ER -