Containment Control Of Second-order Dynamical Multi-Agent Systems

With the rapid development of embedded systems,computer science and communication technology,distributed cooperative control of multi-agent systems has attracted much attention in recent years.The containment control problem has attracted considerable attention due to its broad applications in areas such as hazardous material handling,search and rescue,and cooperative transport.Moreover,second-order dynamics can be used to model more realistic and complicated processes in reality.The containment control problem of second-order dynamical multi-agent systems is studied in this thesis,and the main results of this thesis can be summarized as follows:(1)Under the common assumption that each follower can only communicate with its neighbors over some disconnected time intervals,some distributed controllers are designed such that all the followers can converge to convex hull formed by the leaders.Firstly,the containment control problem is studied for second-order multi-agent systems with intermittent communications,and a distributed intermittent containment control protocol without considering time delays is proposed.Then,under delayed and intermittent communication,a kind of distributed containment control algorithm is derived for second-order multi-agent systems with time-varying delays.Based on the Lyapunov function technology and the intermittent control method,some sufficient conditions are presented to guarantee that the second-order multi-agent systems can achieve intermittent containment control under fixed topology.As an extension,the similar results are obtained for containment control under switching topology.(2)Under intermittent communication,the containment control problem is investigated for a class of second-order multi-agent systems with inherent nonlinear dynamics.A kind of distributed protocol based only on the relative local intermittent measurements of neighbouring agents is designed for intermittent containment control of second-order nonlinear multi-agent systems under fixed directed topology.In the absence of delays,based on the Lyapunov function technology and the intermittent control method,some sufficient conditions are presented to guarantee intermittent containment control for a second-order multi-agent system with inherent nonlinear dynamics.In the presence of delays,some containment conditions are also obtained for a secondorder multi-agent system with inherent delayed nonlinear dynamics and intermittent communications.Moreover,the similar results are obtained for second-order nonlinear multi-agent systems under switching directed topology.(3)Under the case that the velocity information is unavailable,the containment control problem for a class of second-order multi-agent systems with inherent nonlinear dynamics and aperiodically intermittent position measurements is investigated.In some real systems,the intermittent communications and the inaccurate velocity measurements are usually inevitable.To overcome these two communication limitations,a distributed intermittent filter is introduced for each second-order follower.Based on the distributed filter,a novel intermittent containment control protocol without velocity measurements is designed.Some sufficient conditions are derived under the common assumption that only relative position measurements between the neighbouring agents are utilized intermittently,and these conditions ensure that the second-order nonlinear multi-agent systems can achieve containment control.Furthermore,some simpler containment conditions are obtained for multi-agent systems with double-integrator dynamics under aperiodically intermittent communication.(4)The containment control problem of second-order multi-agent systems with intermittent sampled position data is studied.First,under the case that the velocity measurements are inaccurate or unavailable,a novel intermittent containment control protocol is designed based on only the current and sampled position data.Then,based on only the current and delayed sampled position data,an another intermittent containment control protocol is proposed.The necessary and sufficient conditions depending upon the coupling strengths,the spectrum of the Laplacian matrix,the sampling period,the communication width,and the time delay,is derived for achieving second-order intermittent containment control.(5)The distributed containment control problem is investigated for a class of general second-order multi-agent systems with switched dynamics,which is composed of a continuous-time(CT)subsystem and a discrete-time(DT)subsystem.For this switched multi-agent system under fixed directed topology,a distributed containment control protocol is proposed for each follower based on the relative local measurements of neighboring followers and leaders.Some necessary and sufficient conditions are derived under the condition that the network topology contains a directed spanning forest,and these conditions ensure that the general second-order containment control problem can be solved under arbitrary CT-DT switching.If the general second-order system is reduced to the double integrator system,some simpler containment conditions are presented.Furthermore,the similar results are also obtained under switching directed topology.