Distributed Containment Control for Second-Order Multi-Agent Systems with Input Saturation
- Resource Type
- Conference
- Authors
- He, Xingting; Lu, Weifan; Zou, An-Min
- Source
- 2023 9th International Conference on Control Science and Systems Engineering (ICCSSE) Control Science and Systems Engineering (ICCSSE), 2023 9th International Conference on. :86-91 Jun, 2023
- Subject
- Robotics and Control Systems
Observers
Control systems
Numerical simulation
Topology
Numerical models
Multi-agent systems
multi-agent systems
input saturation
dynamic surface control
containment control
- Language
- ISSN
- 2832-1871
This paper studies the issue of distribute containment control for second-order multi-agent systems subject to input saturation under directed communication graphs. A distributed observer was designed to estimate desired position by requiring only the position information between neighboring agents. Combining the dynamic surface control and an affine saturation model, a distributed controller is proposed to address the input saturation for multi-agent systems. It's proved that the followers will converge into the convex formed by dynamic leaders. Finally, the feasibility of the containment controller is verified by numerical simulations.