Containment Control of Multiagent Systems With Dynamic Leaders Based on a PIn-Type Approach

doi:10.1109/TCYB.2015.2494738

	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, Yunpeng 2; Ren, Wei 3,4; Hou, Zeng-Guang1 ; Tan, Min1
发表期刊	IEEE Transactions on Cybernetics ; IEEE Transactions on Cybernetics
	2016-12-01 ; 2016-12-01
卷号	46 期号:12 页码:3004-3017
文章类型	Article ; Article
摘要	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.; 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.
关键词	Containment Control Containment Control Multiagent System (Mas) Multiagent System (Mas) Pin-type Algorithm Pin-type Algorithm Polynomial Trajectory Polynomial Trajectory
WOS标题词	Science & Technology ; Science & Technology ; Technology ; Technology
DOI	10.1109/TCYB.2015.2494738 ; 10.1109/TCYB.2015.2494738
关键词[WOS]	CONSENSUS ; CONSENSUS ; COORDINATION ; COORDINATION ; NETWORKS ; NETWORKS ; COMMUNICATION ; COMMUNICATION ; TOPOLOGIES ; TOPOLOGIES ; VEHICLES ; VEHICLES
收录类别	SCI ; SCI
语种	英语 ; 英语
项目资助者	National 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研究方向	Computer Science ; Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics ; Computer Science, Cybernetics
WOS记录号	WOS:000388923100026 ; WOS:000388923100026
引用统计	被引频次：127[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13361
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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.