|Containment Control of Continuous-time Multi-agent Systems with General Linear Dynamics under Time-varying Communication TopologiesTopologies
Zhe Yang, Xiao-wu Mu* and Kai Liu
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.442-449, 2017
Abstract : "This paper devotes itself to the containment tracking problem of general linear high-order multiagent
systems (MASs) under time-varying communications. For general linear MASs with time-varying weightunbalanced
digraph, the containment control problem is difficult and challenging, because the Lyapunov method
is not an effective approach in this case. Under the assumption that the graph topology uniformly and jointly
has a directed spanning forest, we show that when the exponentially unstable mode associated with each agent’s
self-dynamics is weak enough, the followers can asymptotically tend to the dynamical convex hull spanned by
the leaders, i.e. the containment can be achieved. Moreover, the least convergence rate is explicitly specified.
Simulations are also provided to demonstrate the effectiveness of our result."
Keyword : Containment control, directed spanning forest, dynamic topology, multi-agent systems.