Containment control of linear multi-agent systems with multiple leaders of bounded inputs using distributed continuous controllers

摘要

This paper considers the containment control problem for multi-agent systemswith general linear dynamics and multiple leaders whose control inputs arepossibly nonzero and time varying. Based on the relative states of neighboringagents, a distributed static continuous controller is designed, under which thecontainment error is uniformly ultimately bounded and the upper bound of thecontainment error can be made arbitrarily small, if the subgraph associatedwith the followers is undirected and for each follower there exists at leastone leader that has a directed path to that follower. It is noted that thedesign of the static controller requires the knowledge of the eigenvalues ofthe Laplacian matrix and the upper bounds of the leaders' control inputs. Inorder to remove these requirements, a distributed adaptive continuouscontroller is further proposed, which can be designed and implemented by eachfollower in a fully distributed fashion. Extensions to the case where onlylocal output information is available are discussed.