Event-triggered Containment Control for a Class of High-order Nonlinear Multi-agent Systems

被引：0
|
作者：
Sun, Yani [1 ]
Wang, Ronghao [2 ]
Zou, Wencheng [1 ]
Xiang, Zhengrong [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
[2] Army Engn Univ, Natl Def Engn Coll, Nanjing 210007, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
关键词：
Multi-agent Systems; High-order Nonlinear Systems; Event-triggered Control; Containment Control; Zeno Behavior; CONSENSUS;
D O I：
10.23919/chicc.2019.8865574
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the event-triggered containment control for a class of multi-agent systems, where the dynamics of agents are described by high-order nonlinear systems. Due to the complexity of high-order nonlinear systems, the event-triggered containment control problem is hard to solve, and the main difficulty lies in how to exclude the Zeno behavior. To this end, optimized event-triggered conditions are designed by applying the error threshold for centralized and decentralized cases, respectively. It is proven that under the designed protocols, all the followers can asymptotically converge to the convex hull spanned by multiple leaders and the Zeno behavior can be avoided. Finally, a numerical simulation is given to verify the effectiveness of the presented protocols.
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页码：5909 / 5914
页数：6
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