Study On Containment Control Of Second-order Multi-agent Systems

In recent years, containment control issue has become a hot topic in dis-tributed cooperative control of multi-agent systems (MASs) with multiple leaders. Containment control means that in MASs, all the followers are to be driven into a safety convex hull spanned by all the leaders. This paper will mainly study the containment control issue of systems with nonuniform time-delays.1. The containment control issue of continuous-time MASs with nonuniform time-delays and stationary/dynamic leaders are studied in the paper. Firstly, for single-order MASs with stationary leaders, it is shown that containment control can be achieved if for each follower, there exists at least a leader which has a directed path to the follower. Then, for second-order MASs with dynamic lead-ers, by Lyapunov first method, we mainly present the upper bound Γ of time delays such that MASs can achieve the containment control in an exponential convergence rate. Finally, experimental results are proposed to illustrate the ef-fectiveness of the theoretical results.2. Some approaches on the containment control issue of second-order multi-agent systems in a sampled-data setting under the assumption that only the sam-pled position information can be measured are achieved in the paper as well. Nec-essary and sufficient containment control criteria for MASs with periodic sampling are first established. Then we extend our results to MASs with non-periodic sam-pling interval. Finally, numerical experiments have been done to illustrate the effectiveness of the theoretical results.3. The researches on distributed containment control problem for multiple nonlinear systems with time-delay has been done in the paper as well. Firstly, by Lyapunov method, we provide the conditions such that MASs can achieve the containment control. Then, the conditions for bounded containment control are proposed in the paper.