Distributed Containment Control of Networked Nonlinear Second-order Systems With Unknown Parameters  

作　　者：Long Ma Haibo Min Shicheng Wang Yuan Liu Zhiguo Liu 

机构地区：[1]Unit 96630 of PLA, Beijing 102206, China [2]High-tech Institute of Xi'an, Xi'an 710025, China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2018年第1期232-239,共8页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61203354)

摘　　要：In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders（regulation case） and dynamic leaders（dynamic tracking case） based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.

关 键 词：Containment control directed network topology multi-agent systems nonlinear second-order systems 

分 类 号：TP[自动化与计算机技术]