Abstract
This paper studies the sampled data based containment control problem of second-order multi-agent systems with intermittent communications, where velocity measurements for each agent are unavailable. A novel controller for second-order containment is put forward via intermittent sampled position data measurement. Several necessary and sufficient conditions are derived to achieve intermittent sampled containment control by means of analyzing the relationship among control gains, eigenvalues of the Laplacian matrix, the sampling period, and the communication width. Finally, several simulation examples are used to testify the correctness and effectiveness of the theoretical results.
摘要
在间歇通信且智能体间相对速度不可测的情况下, 基于采样位置数据研究了二阶多智能体系统的包含控制问题, 提出一种基于间歇采样位置测量的二阶分布式包含控制器. 通过分析系统控制增益、 拉普拉斯矩阵特征值、 采样周期和通信宽度之间的关系, 得到二阶多智能体系统在间歇通信下实现包含控制的充要条件. 最后, 通过仿真实例验证了理论结果的正确性和有效性.
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Project supported by the Tianjin Natural Science Foundation of China (Nos. 20JCQNJC01450 and 20JCYBJC01060) and the National Natural Science Foundation of China (No. 61973175)
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Fuyong WANG designed the research. Fuyong WANG, Zhongxin LIU, and Zengqiang CHEN contributed to the idea, technical discussion, and measurements. Fuyong WANG drafted the manuscript. Zhongxin LIU and Zengqiang CHEN helped organize the manuscript. Fuyong WANG, Zhongxin LIU, and Zengqiang CHEN revised and finalized the paper.
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Fuyong WANG, Zhongxin LIU, and Zengqiang CHEN declare that they have no conflict of interest.
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Wang, F., Liu, Z. & Chen, Z. Sampled data based containment control of second-order multi-agent systems under intermittent communications. Front Inform Technol Electron Eng 22, 1059–1067 (2021). https://doi.org/10.1631/FITEE.2000204
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DOI: https://doi.org/10.1631/FITEE.2000204
Key words
- Containment control
- Second-order multi-agent system
- Sampled position data
- Intermittent communication
- Communication width