Containment Control Of Multi-Agent Systems With General Noise And The Application

In recent years,the multi-agent systems(MASs)are widely applied in military,commercial,and civilian fields,the distributed cooperative control of MASs has attracted much attention.Containment control is a basic problem of the cooperative control of the MASs,it is of great value and significance to research it.With the proposal of the Marine power strategy and smart ship development plan,the ship motion control has become a hot topic.The ship motion model has the characteristics of complex environmental perturbations and nonlinearity.In addition,the previous ship control was mainly concentrated on the single ship.However,in practice,multiple ships need to cooperate to complete tasks that are difficult for the single individual to complete.In view of the current difficult problems,this article intends to carry out the following three aspects:First,the containment control of second-order multi-agent systems(MASs)with general noise over directed topology is researched.General noise,which is the mixture of white and colored noise,is introduced to characterize the perturbations of the MASs.Because constructing the anti-perturbed distributed controller for the MASs is hard,we attend to utilize the perturbation tolerant character of convex hull formed by the multiple leaders in the containment control of the MASs.So the hierarchical topology of the MASs is utilized,which can largely reduce the computational complexity and communication loads.Based on random differential equations(RDEs)theory framework,it is shown that the MASs are noise-to-state stable,the state of MASs has the asymptotic gain in the mean square.Furthermore,the related hierarchical topology reconfiguration algorithm is given based on which the MASs can tolerate more powerful noise and all the followers gradually converge to convex hull spanned by the leaders of respective level.Finally,the numerical simulation is carried out to substantiate the feasibility of the proposed control algorithm and theory.Second,the method of containment control of MASs with general noise based on hierarchical topology reconstruction is applied to smart fleet.Considering the complexity of external perturbations of ships,general noise is used to model the external environment perturbations of ships.The perturbation tolerant character of the convex hull is used to deal with perturbations.The effectiveness of the proposed algorithm is verified.Third,the research content of this article is summarized,and the key problems that have not been solved on the containment control of the MASs and the smart fleet in the future are given.