Study On Containment Control Problem For A Class Of Heterogenous Linear Multi-Agent Systems

With the continuous progress of modern science and technology,the traditional control for the single-node has been subjected to a lot of restrictions in many practical applications.There are many cooperative control problems of mult-agent systems,such as consensus problem,flocking,formation and so on.Just considering the systems attributes,the most essential difference between multiple systems and single system is that the information of multiple systems can be transmitted shared through the network.Considering the problem of information tracking,the leader-following problem is derived from the multi-agent systems,which has many applications in missile guidance,satellite positioning and uav formation flight.However,the leader-following problem can be divided into two types:the single leader problems and multiple leaders problems.The multi-leader problem of multi-agent systems(containment control problem)will be the main research content of this thesis.Considering the effect of external disturbance,this thesis researches the containment control problem for continuous time multi-agent systems by adaptive observer,the containment control problem for discrete-time multi-agent systems by adaptive observer and internal model compensator,event-triggered containment control for multi-agent systems.The containment control problem of non-identical networks with external disturbance has been addressed via adaptive distributed observer method.We firstly present a formulation for containment error,which ensures all the followers' outputs converge to the convex hull spanned by the leaders' reference outputs.Then by using an adaptive distributed observer,the leaders'systems matrices and the states of convex hull are both to be estimated.Furthermore,a novel global regulate equation is designed to restrain the external disturbance,and the problem of containment control for multi-agent systems is solved by a dynamic output feedback approach.Then,a practical adaptive distributed observer is used to solve the cooperative robust containment control problem for discrete-time linear multi-agent systems.The dynamics of the systems contain uncertain parts.A containment error is presented to shown the fact that all the followers will converge to the convex hull spanned by the states of the dynamic leaders.There are two compensators in this thesis,we present a distributed compensator to estimate the information of convex hull and use a internal compensator to solve the problem of uncertain parts in dynamics.Furthermore,based on the both compensators,a distributed output feedback controller is designed to solve the containment control problem for the discrete-time multi-agent systems.Concerning the above-mentioned issues,a practical event-triggered design method is developed for cooperative robust containment control problem of high-order multi-agent systems with multiple leaders.The multi-agent systems discussed in this thesis are essentially heterogeneous,and each follower is modeled by a high-order integrator incorporating under the external disturbance.A containment error also has been expressed to ensure all the outputs of followers converge to the convex hull spanned by the outputs of the leaders.For the case that the undirected communication graph among followers is connected,and based on the local state information of neighboring agents,a distributed containment compensator is designed.Furthermore,the problem of event-triggered distributed containment control for continuous-time multi-agent systems is solved by a distributed dynamic output feedback approach.