Skip to main content
placeholder image

Containment control of singular heterogeneous multi-agent systems

Journal Article


Abstract


  • In this paper, we first consider the containment control problem of singular heterogeneous multi-agent systems, where all the followers converge to the convex hull spanned by the leaders. To solve this problem, we propose two distributed control laws: one is based on the state feedback control framework, which is suitable for the case that the full state information of each follower is accessible; and the other is based on the output regulation framework, where each follower only can access to its output. Furthermore, the distributed observers are designed for every follower to estimate the convex combination of the leader states which is determined by the communication graph. It should be noted that our results can also regard the non-singular multi-agent systems’ containment control problem as a special case. Finally, simulation results corroborate the effectiveness of our analytical results.

Publication Date


  • 2018

Citation


  • Cong, Y., Feng, Z., Song, H., & Wang, S. (2018). Containment control of singular heterogeneous multi-agent systems. Journal of the Franklin Institute, 355(11), 4629-4643. doi:10.1016/j.jfranklin.2018.04.009

Scopus Eid


  • 2-s2.0-85047074528

Web Of Science Accession Number


Start Page


  • 4629

End Page


  • 4643

Volume


  • 355

Issue


  • 11

Abstract


  • In this paper, we first consider the containment control problem of singular heterogeneous multi-agent systems, where all the followers converge to the convex hull spanned by the leaders. To solve this problem, we propose two distributed control laws: one is based on the state feedback control framework, which is suitable for the case that the full state information of each follower is accessible; and the other is based on the output regulation framework, where each follower only can access to its output. Furthermore, the distributed observers are designed for every follower to estimate the convex combination of the leader states which is determined by the communication graph. It should be noted that our results can also regard the non-singular multi-agent systems’ containment control problem as a special case. Finally, simulation results corroborate the effectiveness of our analytical results.

Publication Date


  • 2018

Citation


  • Cong, Y., Feng, Z., Song, H., & Wang, S. (2018). Containment control of singular heterogeneous multi-agent systems. Journal of the Franklin Institute, 355(11), 4629-4643. doi:10.1016/j.jfranklin.2018.04.009

Scopus Eid


  • 2-s2.0-85047074528

Web Of Science Accession Number


Start Page


  • 4629

End Page


  • 4643

Volume


  • 355

Issue


  • 11