Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints
With increasing attention on containment control problems in several areas, we investigate this specific problem which can be more practical. Systems with nonconvex input and position constraints are common but can be strongly nonlinear. A distribute algorithm using a projection operator is proposed...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-06-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/10/12/2010 |
| _version_ | 1827658779183808512 |
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| author | Ning Gao Yikang Yang |
| author_facet | Ning Gao Yikang Yang |
| author_sort | Ning Gao |
| collection | DOAJ |
| description | With increasing attention on containment control problems in several areas, we investigate this specific problem which can be more practical. Systems with nonconvex input and position constraints are common but can be strongly nonlinear. A distribute algorithm using a projection operator is proposed to ensure that the control input of every follower remains in a nonconvex set and that all followers stay in the closed set given by leaders. In analysis, a model transformation is proposed, and then we introduce a method utilizing two similar triangles to prove the acceptability of the algorithm. The findings of the research could be pragmatic in robotics, astronautics, and so on. At last, numerical simulations are provided to show the contrast and results. |
| first_indexed | 2024-03-09T23:08:27Z |
| format | Article |
| id | doaj.art-0388db349e0f4c9c9295bd3879986db2 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-09T23:08:27Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-0388db349e0f4c9c9295bd3879986db22023-11-23T17:48:14ZengMDPI AGMathematics2227-73902022-06-011012201010.3390/math10122010Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position ConstraintsNing Gao0Yikang Yang1School of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaWith increasing attention on containment control problems in several areas, we investigate this specific problem which can be more practical. Systems with nonconvex input and position constraints are common but can be strongly nonlinear. A distribute algorithm using a projection operator is proposed to ensure that the control input of every follower remains in a nonconvex set and that all followers stay in the closed set given by leaders. In analysis, a model transformation is proposed, and then we introduce a method utilizing two similar triangles to prove the acceptability of the algorithm. The findings of the research could be pragmatic in robotics, astronautics, and so on. At last, numerical simulations are provided to show the contrast and results.https://www.mdpi.com/2227-7390/10/12/2010containment controlmultiagent systemscontrol input constraintsposition constraintsswitching topologies |
| spellingShingle | Ning Gao Yikang Yang Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints Mathematics containment control multiagent systems control input constraints position constraints switching topologies |
| title | Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints |
| title_full | Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints |
| title_fullStr | Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints |
| title_full_unstemmed | Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints |
| title_short | Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints |
| title_sort | containment control for discrete time multi agent systems with nonconvex control input and position constraints |
| topic | containment control multiagent systems control input constraints position constraints switching topologies |
| url | https://www.mdpi.com/2227-7390/10/12/2010 |
| work_keys_str_mv | AT ninggao containmentcontrolfordiscretetimemultiagentsystemswithnonconvexcontrolinputandpositionconstraints AT yikangyang containmentcontrolfordiscretetimemultiagentsystemswithnonconvexcontrolinputandpositionconstraints |