Distributed Enclosing Control Of Multi-agent System

Multiple agents can work together to complete a complex task through the cooperation of multiple agents,therefore coordinated control of multiple agents has attracted broad attentions from scholars.In practice the physical systems usually have the essential nonlinearity,thus it is of practical significance to study the nonlinear multi-agent systems.In some practical projects,agents gather in a certain area,that is,there are multiple pilots.This paper studies the containment control of nonlinear multi-agent system with multiple pilots,and mainly completes the following work:Firstly,the basic concept of algebraic graph theory and the related definitions and theorems used in this paper are introduced.And a fundamental containment control algorithm of multi-agent system is presented.Then,the containment control of multiple mechanical system with input constraints is studied.Aiming at the multiple mechanical system depicted by the EulerLagrange equation,when the control input is limited,a distributed containment control scheme which does not depend on the relative velocity information is proposed.Based on the graph theory and Lyapunov stability theory,the followers are proved to converge into the convex hull formed by the leaders.distributed control algorithm through many mechanical systems,theoretically proves the convergence to the leader follower of convex hull,and the numerical simulation is performed to verify the proposed algorithm.Finally,the problem of containment control for a class of nonlinear multi-agent systems based on observers is studied.An adaptive neural network control algorithm based on observers is given,which enables all followers to converge to the dynamic convex hull spanned by leaders.Furthermore,the problem of enclosure fault-tolerant control for a class of nonlinear multi-agent systems based on observers is studied in the case of actuator offset fault.It is theoretically proved that the proposed adaptive neural network fault-tolerant control algorithm can realize containment control,and numerical simulation is carried out to verify the effectiveness of the obtained results.