7,367 research outputs found

    Containment Control of Multi-Agent Systems with Dynamic Leaders Based on a PInPI^n-Type Approach

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    This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by (n−1)(n-1)-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. In order to drive all followers into the convex hull spanned by the leaders, a PInPI^n-type (PP and II are short for {\it Proportion} and {\it Integration}, respectively; InI^n implies that the algorithm includes high-order integral terms) containment algorithm is proposed. It is theoretically proved that the PInPI^n-type containment algorithm is able to solve the containment problem of multi-agent systems where the followers are described by any order integral dynamics. Compared with the previous results on the multi-agent systems with dynamic leaders, the distinguished features of this paper are that: (1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain; (2) to deal with the leaders with the (n−1)(n-1)-order polynomial trajectories, existing results require the follower's dynamics to be nn-order integral while the followers considered in this paper can be described by any-order integral; and (3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon. Furthermore, in order to illustrate the practical value of the proposed approach, an application, the containment control of multiple mobile robots is studied. Finally, two simulation examples are given to demonstrate the effectiveness of the proposed algorithm

    Synchronization of multiple rigid body systems: a survey

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    The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest since its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body systems is quite challenging. This paper aims to present an overview of the recent progress in synchronization of multiple rigid body systems from the view of two fundamental problems. The first problem focuses on attitude synchronization, while the second one focuses on cooperative motion control in that rotation and translation dynamics are coupled. Finally, a summary and future directions are given in the conclusion
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