Containment Control Of Multi-Agent System With Time-Delay

Recently, the distributed cooperative control of multi-agent system has become a hot topic in the field of control, since it has a widely application prospect in numerous fields, such as, unmanned aerial vehicle(UAV) formation, adjustment of satellite attitude, fire monitoring, target tracking of sensor network, military reconnaissance, search and rescue and so on. According to different tasks, researchers carry on the extensive investigation on the basic scientific questions which include the way of information sharing, the individual dynamics and so on. While, the containment control is one of the most fundamental problems in cooperative control of multi-agent systems, the objective of it is to design the distributed protocol for each follower to make sure the states of followers asymptotically converges to the convex hull spanned by the leaders. This dissertation mainly investigative the containment control of multi-agent system with time-delay. The main contents are as follows:1. Containment control of second-order multi-agent system under the directed fixed topology is addressed and sufficient conditions to achieve H? containment control are introduced. For the second-order nonlinear multi-agent system, a protocol based on relative states among the neighboring agents is proposed in the presence of external disturbances and time-delay, and sufficient conditions in terms of linear matrix inequality(LMI) are derived to achieve containment control while satisfying desired H? performance. The proposed algorithm also applied to second-order linear multi-agent system. Furthermore, for second-order multi-agent system, a new protocol based on neighbor-based rules is presented in the case that the leaders are stationary.2. Containment control of general linear multi-agent systems with time-delay is studied. A sufficient condition is obtained by utilizing Lyapunov functional and Linear Matrix Inequality(LMI) method under the condition that the communication topology among the agents is weakly connected and fixed. Also, the design method of the feedback gain matrix K is given. Meanwhile, allowed upper bound of the time-delay to ensure containment control can be gained by the numerical method3. Surrounding control of a class of multi-agent system with fixed undirected connected topology is investigatived. First, a distributed estimator is constructed based on the individual, which can ensure all the agents reach an agreement on the average position of the static targets in finite time. At the same time, a distributed protocol is designed, which can guarantee all the agents evenly distributed on the same circle at the center of estimate and realize the collective uniform circular motion. Then, a sufficient condition on surrounding control considered is derived. Finally, the results of simulation indicate the validity of the theory.