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Containment control of general linear multi-agent systems with multiple dynamic leaders: A fast sliding mode based approach
Huiyang Liu;  Long Cheng;  Min Tan;  Zengguang Hou
Source PublicationIEEE/CAA Journal of Automatica Sinica
2014
Volume1Issue:2Pages:134-140
AbstractIn this paper, distributed containment control problems of general linear multi-agent systems are investigated. The objective is to make the followers in a multi-agent network converge to the convex hull spanned by some leaders whose control inputs are nonzero and not available to any followers. Sliding mode surfaces are defined for the cases of reduced order and non-reduced order, respectively. For each case, fast sliding mode controllers are designed. It is shown that all the error trajectories exponentially reach the sliding mode surfaces in a finite time if for each follower, there exists at least one of the leaders who has a directed path to the follower, and the leaders' control inputs are bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.
KeywordMulti-agent systems cooperative control fast terminal sliding mode containment control exponential finite time
DOI10.1109/JAS.2014.7004542
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23173
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Huiyang Liu, Long Cheng, Min Tan,et al. Containment control of general linear multi-agent systems with multiple dynamic leaders: A fast sliding mode based approach[J]. IEEE/CAA Journal of Automatica Sinica,2014,1(2):134-140.
APA Huiyang Liu, Long Cheng, Min Tan,& Zengguang Hou.(2014).Containment control of general linear multi-agent systems with multiple dynamic leaders: A fast sliding mode based approach.IEEE/CAA Journal of Automatica Sinica,1(2),134-140.
MLA Huiyang Liu,et al."Containment control of general linear multi-agent systems with multiple dynamic leaders: A fast sliding mode based approach".IEEE/CAA Journal of Automatica Sinica 1.2(2014):134-140.
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