Research On Containment Control Of Heterogeneous Multi-Agent Systems Based On Output Regulation

With the rapid development of microelectronic and communication technology sensing technology,distributed control plays an increasingly important role in dealing with large-scale complex networks.Cooperative control of multi-agent systems has been widely used in industry,aerospace,military and other fields.Therefore,the research on cooperative control of multi-agent systems has become a hot topic.Among them,containment control is a common problem in multi-agent system cooperative control.The aim is to find a suitable distributed containment control protocol,which can make followers converge asymptotically to the convex hull of leader's trajectory.In this paper,we use the output regulation framework to study the containment control of heterogeneous multi-agent systems.The main contents are as follows.(1)Under the fixed directed topology,the problem of containment control for general linear heterogeneous multi-agent systems is studied.A distributed output regulation containment control protocol is designed.Aiming at the common single-leader containment control problem,the traditional error function of containment control is improved,so that the heterogeneous multi-agent system can realize the surround control for multiple leaders.(2)The problem of containment control for heterogeneous multi-agent systems with time-delay is studied by using output regulation theory.Based on fixed directed topology,a distributed state time-delay feedback control protocol is designed.By using linear matrix equation,Kronecker product and time-delay stability theory,sufficient conditions for the implementation of containment control for heterogeneous multi-agent systems with fixed time-delay are given.The maximum time-delay coefficient of containment control problem based on output regulation is obtained by numerical simulation.(3)The problem of finite-time containment control for output regulation heterogeneous multi-agent systems with fixed time-delay is studied.Based on heterogeneous multi-agent systems with time-delay,a finite-time state time-delay feedback control protocol is proposed.The sufficient conditions for finite-time containment control of heterogeneous multi-agent systems with fixed time-delay are proved by using finite-time stability theory,Lyapunov stability theory and Hurwitz stability theory.The effectiveness of the proposed conditions is verified by numerical simulation.