Research On Distributed Containment Control For Multi-Vehicle Systems

With the development of the times and the progress of science,the coordinated control of multi-agent systems has gradually attracted the attention of scholars because of its important potential applications in industry,military,computer and other related fields.Consistency is an important issue in the research of distributed coordinated control for multi-agent systems.The problem of containment control belongs to the consistent and coordinated control with leaders.Nowadays,the number and quality of individuals are more and more demanded in the system,so it is more and more necessary to apply the theory of envelope control to practical engineering.As a typical example of multi-agent systems,the study of containment control has far-reaching significance for distributed coordinated control of multi-vehicle systems.In this paper,the distributed containment control problem of multi-vehicle systems is studied by combining the existing research results and applying the relevant theoretical knowledge.The main contents of this paper are as follows:Firstly,the dynamics of multiple single Kelly vehicle is analyzed,and the mathematical model of multi-vehicle systems composed of multiple Kelly vehicles is established.Secondly,the distributed containment control of multi-vehicle systems in the form of state feedback is mainly studied.For multi-vehicle systems with fixed directed network topology,a distributed containment control protocol based on state feedback is proposed by using the idea of optimal control.The optimal gain matrix and coupling gain are designed,and the stability of the system is analyzed.Under this control protocol,the goal containment control can be achieved and the performance index of the whole system can be optimized.The simulation results of this chapter verify the correctness of the control protocol.Compared with other control protocols,it has the advantages of system performance optimization,and also proves the constraints of coupling gain.Finally,for multi-vehicle systems with fixed directed topology and continuous time,considering the unmeasurable state information in the system,a distributed containment control protocol based on static output feedback is designed,which makes it more universal in practical application.The necessary and sufficient conditions for the existence of the control gain matrix are given.When solving the control gain matrix,it is noticed thatthe non-linear inequality can not be solved directly.Therefore,an iterative algorithm is used to solve the control gain matrix of the system.Under this control protocol,the follower can gradually move into the convex region containmented by multiple leaders and keep driving in this region.Finally,the validity of distributed containment control protocol and iteration algorithm based on static output feedback is proved by numerical simulation and analysis.