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Type: Journal article
Title: Distributed finite-time containment control for double-integrator multiagent systems
Author: Wang, X.
Li, S.
Shi, P.
Citation: IEEE Transactions on Cybernetics, 2014; 44(9):1518-1528
Publisher: IEEE
Issue Date: 2014
ISSN: 2168-2267
Statement of
Xiangyu Wang, Shihua Li and Peng Shi
Abstract: In this paper, the distributed finite-time containment control problem for double-integrator multiagent systems with multiple leaders and external disturbances is discussed. In the presence of multiple dynamic leaders, by utilizing the homogeneous control technique, a distributed finite-time observer is developed for the followers to estimate the weighted average of the leaders’ velocities at first. Then, based on the estimates and the generalized adding a power integrator approach, distributed finite-time containment control algorithms are designed to guarantee that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time. Moreover, as a special case of multiple dynamic leaders with zero velocities, the proposed containment control algorithms also work for the case of multiple stationary leaders without using the distributed observer. Simulations demonstrate the effectiveness of the proposed control algorithms.
Keywords: Containment control; distributed control; finitetime control; multiagent systems; second-order systems
Rights: © 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
DOI: 10.1109/TCYB.2013.2288980
Appears in Collections:Aurora harvest 2
Electrical and Electronic Engineering publications

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