Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol
This paper investigates the containment control problem of discrete-time first-order multi-agent system composed of multiple leaders and followers, and we propose a proportional-integral (PI) coordination control protocol. Assume that each follower has a directed path to one leader, and we consider...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-07-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/14/7/209 |
| _version_ | 1797527784450424832 |
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| author | Mingyang Huang Chenglin Liu Liang Shan |
| author_facet | Mingyang Huang Chenglin Liu Liang Shan |
| author_sort | Mingyang Huang |
| collection | DOAJ |
| description | This paper investigates the containment control problem of discrete-time first-order multi-agent system composed of multiple leaders and followers, and we propose a proportional-integral (PI) coordination control protocol. Assume that each follower has a directed path to one leader, and we consider several cases according to different topologies composed of the followers. Under the general directed topology that has a spanning tree, the frequency-domain analysis method is used to obtain the sufficient convergence condition for the followers achieving the containment-rendezvous that all the followers reach an agreement value in the convex hull formed by the leaders. Specially, a less conservative sufficient condition is obtained for the followers under symmetric and connected topology. Furthermore, it is proved that our proposed protocol drives the followers with unconnected topology to converge to the convex hull of the leaders. Numerical examples show the correctness of the theoretical results. |
| first_indexed | 2024-03-10T09:47:46Z |
| format | Article |
| id | doaj.art-3ab0de7528da4a3eb3097bbb79ba1030 |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-10T09:47:46Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-3ab0de7528da4a3eb3097bbb79ba10302023-11-22T02:59:29ZengMDPI AGAlgorithms1999-48932021-07-0114720910.3390/a14070209Containment Control of First-Order Multi-Agent Systems under PI Coordination ProtocolMingyang Huang0Chenglin Liu1Liang Shan2Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, ChinaKey Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaThis paper investigates the containment control problem of discrete-time first-order multi-agent system composed of multiple leaders and followers, and we propose a proportional-integral (PI) coordination control protocol. Assume that each follower has a directed path to one leader, and we consider several cases according to different topologies composed of the followers. Under the general directed topology that has a spanning tree, the frequency-domain analysis method is used to obtain the sufficient convergence condition for the followers achieving the containment-rendezvous that all the followers reach an agreement value in the convex hull formed by the leaders. Specially, a less conservative sufficient condition is obtained for the followers under symmetric and connected topology. Furthermore, it is proved that our proposed protocol drives the followers with unconnected topology to converge to the convex hull of the leaders. Numerical examples show the correctness of the theoretical results.https://www.mdpi.com/1999-4893/14/7/209containment control problemfirst-order multi-agent systemsPI coordination controlcontainment-rendezvous |
| spellingShingle | Mingyang Huang Chenglin Liu Liang Shan Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol Algorithms containment control problem first-order multi-agent systems PI coordination control containment-rendezvous |
| title | Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol |
| title_full | Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol |
| title_fullStr | Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol |
| title_full_unstemmed | Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol |
| title_short | Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol |
| title_sort | containment control of first order multi agent systems under pi coordination protocol |
| topic | containment control problem first-order multi-agent systems PI coordination control containment-rendezvous |
| url | https://www.mdpi.com/1999-4893/14/7/209 |
| work_keys_str_mv | AT mingyanghuang containmentcontroloffirstordermultiagentsystemsunderpicoordinationprotocol AT chenglinliu containmentcontroloffirstordermultiagentsystemsunderpicoordinationprotocol AT liangshan containmentcontroloffirstordermultiagentsystemsunderpicoordinationprotocol |