Semi-global and global containment control of multi-agent systems with second-order dynamics and input saturation

Song, Q; Liu, F; Su, H; Vasilakos, AV

Semi-global and global containment control of multi-agent systems with second-order dynamics and input saturation

Song, Q Liu, F Su, H Vasilakos, AV

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Publisher:: WILEY
Publication Type:: Journal Article
Citation:: International Journal of Robust and Nonlinear Control, 2016, 26, (16), pp. 3460-3480
Issue Date:: 2016-11-10

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Field	Value	Language
dc.contributor.author	Song, Q
dc.contributor.author	Liu, F
dc.contributor.author	Su, H
dc.contributor.author	Vasilakos, AV
dc.date.accessioned	2022-08-09T20:13:16Z
dc.date.available	2022-08-09T20:13:16Z
dc.date.issued	2016-11-10
dc.identifier.citation	International Journal of Robust and Nonlinear Control, 2016, 26, (16), pp. 3460-3480
dc.identifier.issn	1049-8923
dc.identifier.issn	1099-1239
dc.identifier.uri	http://hdl.handle.net/10453/159823
dc.description.abstract	This paper considers both semi-global and global containment control for a second-order multi-agent system that is composed by a network of identical harmonic oscillators or double integrators with multiple leaders and input saturation. A distributed low gain feedback algorithm is proposed to solve the semi-global containment control problem for the network whose topology is directed and initial condition is taken from any a priori given bounded set. In particular, by using a parametric Lyapunov equation approach, M-matrix properties and algebraic graph theory, an upper bound of the low gain parameter is estimated such that the low gain feedback matrix can be analytically determined without involving numerical computation. Furthermore, under the assumption that the induced subgraph formed by the followers is strongly connected and detail balanced, two linear feedback protocols are designed for coupled harmonic oscillators and coupled double integrators, respectively, to asymptotically achieve the global containment control of the network with any initial condition. Finally, numerical examples are given to illustrate the effectiveness of the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.
dc.language	English
dc.publisher	WILEY
dc.relation.ispartof	International Journal of Robust and Nonlinear Control
dc.relation.isbasedon	10.1002/rnc.3515
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0102 Applied Mathematics, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Semi-global and global containment control of multi-agent systems with second-order dynamics and input saturation
dc.type	Journal Article
utslib.citation.volume	26
utslib.for	0102 Applied Mathematics
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2022-08-09T20:13:15Z
pubs.issue	16
pubs.publication-status	Published
pubs.volume	26
utslib.citation.issue	16

Abstract:

This paper considers both semi-global and global containment control for a second-order multi-agent system that is composed by a network of identical harmonic oscillators or double integrators with multiple leaders and input saturation. A distributed low gain feedback algorithm is proposed to solve the semi-global containment control problem for the network whose topology is directed and initial condition is taken from any a priori given bounded set. In particular, by using a parametric Lyapunov equation approach, M-matrix properties and algebraic graph theory, an upper bound of the low gain parameter is estimated such that the low gain feedback matrix can be analytically determined without involving numerical computation. Furthermore, under the assumption that the induced subgraph formed by the followers is strongly connected and detail balanced, two linear feedback protocols are designed for coupled harmonic oscillators and coupled double integrators, respectively, to asymptotically achieve the global containment control of the network with any initial condition. Finally, numerical examples are given to illustrate the effectiveness of the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.

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http://hdl.handle.net/10453/159823