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

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	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
刊名	IEEE Transactions on Cybernetics
	2016-12-01
卷号	46 期号:12 页码:3004-3017
关键词	Containment control multiagent system (MAS) PIn-type algorithm polynomial trajectory
英文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
研究领域[WOS]	Computer Science
关键词[WOS]	CONSENSUS ; COORDINATION ; NETWORKS ; COMMUNICATION ; TOPOLOGIES ; VEHICLES
收录类别	SCI
语种	英语
WOS记录号	WOS:000388923100026
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/13361]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
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
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[J]. IEEE Transactions on Cybernetics,2016,46(12):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.