Containment problem for multi‐agent systems with position and velocity constraints.
- Resource Type
- Article
- Authors
- Chen, Jie; Wang, Yalin; Pan, Zhuofu; Hou, Hailiang; Gui, Weihua
- Source
- International Journal of Robust & Nonlinear Control. Aug2022, Vol. 32 Issue 12, p7057-7073. 17p.
- Subject
- *MULTIAGENT systems
*VELOCITY
*CONVEX surfaces
*DISTRIBUTED algorithms
*HAMILTONIAN graph theory
*NON-uniform flows (Fluid dynamics)
*COMPUTER simulation
- Language
- ISSN
- 1049-8923
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. [ABSTRACT FROM AUTHOR]