Adaptive Bipartite Containment of Multi-Agent Systems with Directed Topology and Multiple High-Dimensional Leaders
Additional Document Info
2018 IEEE. Practical multi-agent systems (MASs) are often comprised of heterogeneous individuals to be coordinated in a fully distributed manner. In this paper, fully distributed bipartite containment control for a class of heterogeneous MASs with multiple high-dimensional leaders and directed fixing topology is investigated. The coordination goal is to make the states or the opposite states of all followers converge to the convex hull formed by the outputs of all leaders. To do so, a new class of adaptive containment protocols associated with local state observers are developed and employed. By assuming that each follower can be indirectly or directly influenced by at least one leader and the intrinsic dynamics of each leader are detectable, efficient criteria for guaranteeing bipartite containment in the closed-loop MASs are provided by using tools from Lyapunov stability theory and adaptive control theory.
name of conference
2018 IEEE 14th International Conference on Control and Automation (ICCA)