Containment control with delays, velocity constraints and position constraints in directed changing networks. (October 2022)

• Record Type: Journal Article
• Authors: Wang, Yalin; Chen, Jie; Hou, Hailiang
• Is Part Of: ISA transactions. Volume 129(2022)Part B
• Page Start: 163
• Page End: 170
• Publication Date: 2022-10
• Subjects: Constraint operator -- Containment control -- Nonconvex constraints -- Bounded communication delays; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2022.02.028
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper discusses a containment problem of multi-agent networks with inconsistently bounded communication time delays in directed changing topologies, where the velocity and position of each follower are, respectively, confined in a nonconvex set and a convex set during its movement. A projection-based distributed control protocol is developed to drive all followers into a target convex area spanned by some given leaders, and a sufficient condition for achieving the constrained containment is established. It is proven that the constrained containment problem can be solved by the developed control protocol only if every follower can communicate with no less than one stationary leader directly or indirectly in the union of the communication topologies. Eventually, a representative simulation experiment is performed to verify the main results. Highlights: A containment problem is studied for multi-agent systems with double constraints, communication delays and switching topologies. A distributed projection-based distributed algorithm is designed to achieve the constrained containment. A sufficient condition is established to guarantee the achievement of the containment control. A numerical simulation is given to verify the obtained theoretical results.