Containment Control Of Multi-Agent Systems Under Constraints

The uncertainty in practical application leads to multi-agent systems being affected by some constraints inevitably.Constraints mainly refer to communication delay,external disturbance and input saturation.On the other hand,containment control can be used for hazardous material transfer,military search and cooperative transportation.Therefore,it is urgent to study containment control of multi-agent systems under constraints.In this thesis,subjected to the problem of containment control is investigated for discrete-time high-order multi-agent systems with communication delay,external disturbance and input saturation.First of all,the problem of containment control and formation-containment control are studied for discrete-time multi-agent systems with fixed topology and external interference and communication delay.In the case that the state available and unavailable,the discrete-time disturbance observer is designed to eliminate the effects of disturbances on the system.It is also combined with networked predictive control to actively compensate the communication time delay.Based on matrix theory and graph theory,the sufficient conditions of achieving containment control and formation-containment control are given.Finally,the effectiveness of the control method is shown by numerical simulation.Secondly,semi-global containment control and semi-global formationcontainment control are studied under input saturation and communication delay.By using the low gain feedback theory and solving the Riccati equation,sufficient conditions of the system to achieve Semi-global containment control and semi-global formation-containment control are proposed for multi-agent systems with directed networks are given.Numerical simulation shows that there is a bounded invariant set,for all agents whose initial state belongs to this set,followers are able to converge to the convex hull formed by leaders under the drive of the control protocol.