Robust Containment Control of Second-Order Fixed Topology Multi-Agent Systems

Abstract

In the study of multi-agent distributed control, the distributed containment control is an important problem, which aims to make all the following agents enter the convex hull formed by the leader agents. It has a wide application prospect in UAV information collection and robust control. In the practical application of distributed containment control, agents usually experience unknown or uncertain working environment and are needed to suppress or even eliminate the adverse effects of external disturbances. In this paper, we study the robust containment control problem for second-order multi-agent systems with fixed topology. Based on the second-order dynamics model, the distributed algorithm is designed, and introduce the model transformation factor, and then transform the model. Based on Lyapunov stability theory, we analyze the stability of multi-agent system by solving differential equations combined with the comparison theorem. Then we minimize the maximum of the output multi-agent system under the external disturbance, and improve the anti-interference performance of the system. Finally, we implement a simulation example to illustrate theoretical results.

Keywords

• Containment control
• fixed topology
• second-order multi-agent systems
• L₂-L∞ performance index