Research On Finite-Time Formation Control And Containment Control For Multi-Agent Systems

In recent years,with the continuous development of science and technology,the coordinated control of multi-agent systems has become a hot topic which has drawn much attention to the researchers.Both formation control and containment control are important parts of the coordinated control of multi-agent systems.Most of the existing results are about the asymptotical property of multi-agent systems,but the convergence is not taken into account.The finite-time stability theory is introduced into the coordinated control,which performs faster convergence rate,better disturbance rejection properties and robustness with respect to the uncertainties.Therefore,the research on the finite time formation control and the control problem of multi-agent systems has significant theoretical and practical meanings.The main results and contributions of this thesis are as follows:Firstly,the finite-time circle formation control problem of the multi-agent systems is studied.For a group of autonomous dynamic intelligent individual with a leader,by using finite-time feedback gain technology,we present a distributed control protocol for all the follower agents to form a circle,whose center is the leader agent with the radius and angles arriving at the expected ones in any given finite time.It has been proved that the control protocol can guarantee that no collision occurs among agents in the process of evolution.The feasibility and the effectiveness of the results are verified by the simulation results.Secondly,the finite-time surrounding control problem of the multi-agent systems is studied.For multi-agent systems with different numbers of surrounding agents and target agents,a geometric center estimator of the targets is given for each surrounding agent to estimate the geometric center of targets.Then,by using the value of the estimator,a distributed control protocol is proposed for each surrounding agent to guarantee that all the surrounding agents evenly distribute on a circle,whose center is the geometric center of targets and radius is the maximum value of the distances among each target agent and targets' geometric center.Therefore,all the target agents are surrounded by this circle in finite time.The feasibility and the effectiveness of the results are illustrated by the simulation results.Finally,the event-based finite-time containment control for multi-agent systems is investigated.For multi-agent systems with dynamic leaders and dynamic followers,a distributed nonlinear event-triggered control protocol is presented for each follower agent to achieve the objective that the followers come into the convex hull spanned by the leaders in finite time.Moreover,a nonlinear function is used in the event-triggered controller.The feasibility and the effectiveness of the results are verified by the simulation results.