Finite-Time Containment Control for Second-Order Multiagent Systems Under Directed Topology
Finite-Time Containment Control for Second-Order Multiagent Systems Under Directed Topology
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DOI：
10.1109/tcsii.2014.2327473
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发表时间：
2014-05
期刊：
影响因子：
--
通讯作者：
Xiaoyan He;Qingyun Wang;Wenwu Yu
中科院分区：
文献类型：
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作者：
Xiaoyan He;Qingyun Wang;Wenwu Yu
本简介研究了固定定向通信拓扑下具有多个动态领导者的二阶多智能体系统的有限时间遏制控制。特别是，所研究的系统由具有有限未知加速度输入的多个动态引导者和具有有限扰动的跟随者组成。通过非奇异终端滑模方案构造了一种新的连续非线性遏制控制协议。所提出的协议可以有效地驱动追随者的状态在有限时间内跟踪领导者的状态所跨越的凸包。
This brief investigates the finite-time containment control for second-order multiagent systems with multiple dynamic leaders under a fixed directed communication topology. In particular, the studied systems are composed of the multiple dynamic leaders with bounded unknown acceleration inputs and the followers with bounded disturbances. A new continuous nonlinear containment control protocol is constructed via a nonsingular terminal sliding-mode scheme. The proposed protocol can effectively drive the states of the followers to track the convex hull spanned by those of the leaders within the finite time.