Formation-containment Control of Second-order Multi-agent Systems with Sampled Data and Intermittent Communication

摘要

This paper investigates the formation-containment control of multi-agent systems with agents’ dynamics modelled by double integrators. For the agents communicating with each other intermittently, distributed coordination control algorithms are constructed for the leaders and following agents respectively. In our proposed algorithms, each agent’s input is driven by continuous-time data, sampled data and zero are proposed. By means of the theories about matrices and algebraic graphs, sufficient conditions are analyzed respectively for the leaders converging to the expected formation asymptotically and the followers reaching the containment region of the leaders asymptotically. Furthermore, the validity of our theoretical results are shown by simulations.