Fully Heterogeneous Containment Control of a Network of Leader–Follower Systems

DOI10.1109/TAC.2021.3130878MaRDI QIDQ6077189zbMATH OpenOpenAlexFDO

Authors Majid Mazouchi, Farzaneh Tatari, Bahare Kiumarsi, Hamidreza Modares

Publication date 25 September 2023

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2004.03725

zbMATH Keywords

containment control problem (CCP)cooperative output regulationheterogeneous leaders

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: This paper develops a distributed solution to the fully-heterogeneous containment control problem (CCP), for which not only the followers' dynamics but also the leaders' dynamics are non-identical. A novel formulation of the fully-heterogeneous CCP is first presented in which each follower constructs its virtual exo-system. To build these virtual exo-systems by followers, a novel distributed algorithm is developed to calculate the so-called normalized level of influences (NLIs) of all leaders on each follower and a novel adaptive distributed observer is designed to estimate the dynamics and states of all leaders that have an influence on each follower. Then, a distributed control protocol is proposed based on the cooperative output regulation framework, utilizing this virtual exo-system. Based on estimations of leaders' dynamics and states and NLIs of leaders on each follower, the solutions of the so-called linear regulator equations are calculated in a distributed manner, and consequently, a distributed control protocol is designed for solving the output containment problem. Finally, theoretical results are verified by performing numerical simulations.

Cited in

(6)

• Leader-follower containment control over directed random graphs
• A necessary and sufficient condition for the controllability of single-leader multi-chain systems
• Observer-based bipartite output containment control of heterogeneous multi-agent systems over structurally unbalanced signed graphs
• Finite-time cooperative output regulation of heterogeneous nonlinear multi-agent systems under switching DoS attacks
• Containment control for high-order multiagent systems with time-varying position constraints and multiple set-leaders
• Event-triggered impulsive control for leader-following quasi-consensus of heterogeneous MASs with and without input delay

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