Adaptive Containment Control Research For Second-order Nonlinear Multi-agent System

In the study of cooperative control of multi-agent systems,containment control is an important problem.Its main control goal is to design a suitable controller for multi-agent systems with multiple leaders,so that the followers can finally reach a geometric region formed by leaders,that is,the convex hull.Compared with the problems of traditional multi-agent systems,containment control can more fully reflect the advantages of distributed cooperative control.In this paper,the adaptive containment control problem of second-order nonlinear multi-agent systems is studied.The research contents are as follows:Finite-time adaptive containment control and bipartite containment control of multi-agent systems are investigated in the presence of perturbations.Second-order nonlinear dynamics systems are considered,and finite-time adaptive containment control and bipartite containment control are solved using knowledge of modern control theory and finite-time stability,respectively.The results show that,according to the proposed controller,each agent can achieve the desired effect of containment control and bipartite containment control in finite-time,and can calculate the corresponding convergence time.A class of finite-time adaptive containment control for nonlinear multi-agent systems is considered.A class of second-order dynamic system whose intrinsic dynamics nonlinear functions are relaxed to have higher-order and lower-order is concerned.And finite-time containment control was solved.First,a finite-time state observer is provided to observe precise estimation of the weighted average of the leaders’ state,and then a composite containment control algorithm based on the observer is provided.Finally,the effectiveness of state observer and finite-time controller are verified by using simulation.Predefined-time adaptive bipartite containment control for second-order nonlinear multi-agent systems with actuator faults is addressed.We consider the problem of bipartite containment control for second-order nonlinear multi-agent systems when the actuator faults.Sufficient conditions for predefined-time bipartite containment control under the condition of actuator faults are obtained using methods such as sliding mode and adaptive control.At last,the effectiveness of control algorithm is verified through simulation.