Containment problem for multi‐agent systems with position and velocity constraints

Abstract

The containment problem is investigated for networked second‐order agents with nonuniform position and nonconvex velocity constraints under directed switching topologies. A distributed containment algorithm is designed for each agent to drive it into the convex target area formed by multiple leaders. The proposed control strategy only utilizes the information of each agent and its neighbor interaction. Theoretical analysis demonstrates that the constrained containment problem can be addressed only if each agent has a directed communication path from at least one leader to it in the union of the graphs. Finally, several numerical simulation results are presented to demonstrate the proposed control schemes.

Bearing‐only containment control of multi‐agent systems

“…It is worth noting that different from the most existing containment control algorithms, for example, References 1‐18, only the bearing measurements are used in (3), and the nonlinearity of the bearing renders the stability analysis challenging.…”

“…Recently, containment control has received more and more attention due to its wide applications 1‐20 . In the containment control problem, all the followers converge to the geometric region defined by the leaders 1 .…”

“…Recently, containment control has received more and more attention due to its wide applications. [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] In the containment control problem, all the followers converge to the geometric region defined by the leaders. 1 The geometric region usually is the convex hull formed by the leaders.…”

H∞ containment of networked MASs with disturbances, position, and velocity constraints

“…Due to the limitation of actual conditions, the states (e.g., positions, velocities, and inputs) usually are constrained in a certain range [14]. Consequently, constrained containment problems have received great attention in recent years (e.g., previous studies [4,[15][16][17][18][19][20][21][22]). Containment problems with bounded input [15], input saturation [4], and nonconvex input constraints [16] were discussed.…”

“…An adaptive algorithm was designed to realize the containment of quadrotor UAVs with input constraints of actuators in Chen et al [20]. Article [21] investigated the velocity and position constraints in containment control simultaneously. However, external disturbances are not considered in all the studies of constrained containment.…”