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Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach; Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach
Cheng, Long1; Wang, Yunpeng2; Ren, Wei3,4; Hou, Zeng-Guang1; Tan, Min1
Source PublicationIEEE Transactions on Cybernetics ; IEEE Transactions on Cybernetics
2016-12-01 ; 2016-12-01
Volume46Issue:12Pages:3004-3017
SubtypeArticle ; Article
AbstractThis paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by the nth-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. I-n order to drive all followers into the convex hull spanned by the leaders, a PIn-type containment algorithm is proposed (P and I are short for proportional and integral, respectively; In implies that the algorithm includes up to the nthorder integral terms). It is theoretically proved that the PIn-type containment algorithm is able to solve the containment problem of MASs where the followers are described by any order integral dynamics. Compared to the previous results on the MASs with dynamic leaders, the distinguished features of this paper are that: 1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain; 2) to deal with the leaders with the nth-order polynomial trajectories, existing results require the follower's dynamics to be the (n + 1) th-order integral while the followers considered in this paper can be described by any-order integral dynamics; 3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon; and 4) both disturbance and measurement noise are taken into account. Finally, some simulation examples are given to demonstrate the effectiveness of the proposed algorithm.; This paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by the nth-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. I-n order to drive all followers into the convex hull spanned by the leaders, a PIn-type containment algorithm is proposed (P and I are short for proportional and integral, respectively; In implies that the algorithm includes up to the nthorder integral terms). It is theoretically proved that the PIn-type containment algorithm is able to solve the containment problem of MASs where the followers are described by any order integral dynamics. Compared to the previous results on the MASs with dynamic leaders, the distinguished features of this paper are that: 1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain; 2) to deal with the leaders with the nth-order polynomial trajectories, existing results require the follower's dynamics to be the (n + 1) th-order integral while the followers considered in this paper can be described by any-order integral dynamics; 3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon; and 4) both disturbance and measurement noise are taken into account. Finally, some simulation examples are given to demonstrate the effectiveness of the proposed algorithm.
KeywordContainment Control Containment Control Multiagent System (Mas) Multiagent System (Mas) Pin-type Algorithm Pin-type Algorithm Polynomial Trajectory Polynomial Trajectory
WOS HeadingsScience & Technology ; Science & Technology ; Technology ; Technology
DOI10.1109/TCYB.2015.2494738 ; 10.1109/TCYB.2015.2494738
WOS KeywordCONSENSUS ; CONSENSUS ; COORDINATION ; COORDINATION ; NETWORKS ; NETWORKS ; COMMUNICATION ; COMMUNICATION ; TOPOLOGIES ; TOPOLOGIES ; VEHICLES ; VEHICLES
Indexed BySCI ; SCI
Language英语 ; 英语
Funding OrganizationNational Natural Science Foundation of China(61422310 ; National Natural Science Foundation of China(61422310 ; Beijing Nova Program(Z121101002512066) ; Beijing Nova Program(Z121101002512066) ; U.S. National Science Foundation(ECCS-1307678) ; U.S. National Science Foundation(ECCS-1307678) ; 61370032 ; 61370032 ; 61528301 ; 61528301 ; 61225017 ; 61225017 ; 61421004 ; 61421004 ; 61120106010) ; 61120106010)
WOS Research AreaComputer Science ; Computer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Computer Science, Cybernetics
WOS IDWOS:000388923100026 ; WOS:000388923100026
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13361
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Beijing Inst Control Engn, Beijing 100190, Peoples R China
3.Univ Calif Riverside, Dept Elect & Comp Engn, Riverside, CA 92521 USA
4.King Abdulaziz Univ, Ctr Excellence Intelligent Engn Syst, Jeddah 21589, Saudi Arabia
Recommended Citation
GB/T 7714
Cheng, Long,Wang, Yunpeng,Ren, Wei,et al. Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach, Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach[J]. IEEE Transactions on Cybernetics, IEEE Transactions on Cybernetics,2016, 2016,46, 46(12):3004-3017, 3004-3017.
APA Cheng, Long,Wang, Yunpeng,Ren, Wei,Hou, Zeng-Guang,&Tan, Min.(2016).Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach.IEEE Transactions on Cybernetics,46(12),3004-3017.
MLA Cheng, Long,et al."Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach".IEEE Transactions on Cybernetics 46.12(2016):3004-3017.
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