Formation-containment Control Of Discrete-time Multi-agent Systems

In order to cope with the complex practical tasks in reality,such as unmanned aerial vehicles and manned-machine cooperative operations,researchers have found that while all agents in the system realize containment control,leaders need to achieve formation control through the transmission of information,so formation-containment(FC)control came into being.FC control of multi-agent systems(MASs)is achieved by constructing a suitable controller,that is,all followers in the system can enter into the convex hull formed by the leaders,and all the leaders can form a specific structure.Due to the fact that network systems may have two practical problems: uncertain exogenous disturbance and limited network resources,in the field of FC control,this paper does the following three parts of research:1.The FC control of discrete-time MASs with exogenous disturbances is studied.For the uncertain exogenous disturbances in the system,the real information of them is estimated by constructing disturbance observer-based,and the state feedback controller and state observer-based feedback controller are constructed according to the estimated disturbances value,and through the Lyapunov stability analysis,the system can achieve stabilization,and the FC control can be realized,meanwhile the simulation analysis can confirm the effectiveness of the controllers.2.The FC control of discrete-time MASs with intermittent control is studied.For the problem of limited network resources,intermittent state feedback and observer-based intermittent feedback are proposed,that is,each sampling sampled period has the same control time and free-control time,and only at the duration of the communication interval,the control input acts on the agents.According to the Lyapunov stability theory,the communication rate can be obtained,meanwhile,by the simulation analysis,the validity of the theory can be proved.3.The FC control of discrete-time MASs via event-triggered control is investigated.In order to save interaction resources,the event-triggered state feedback controller is proposed,that is,if and only if the trigger function becomes a nonnegative number,the agents in the system can receive the input information.Based on the Lyapunov stability theory,the trigger functions of the followers and the leaders are different,that is,they have different trigger time and do not affect each other,and the simulations given can confirm the validity of these results.