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http://dx.doi.org/10.6109/jkiice.2021.25.1.102

PI-based Containment Control for Multi-agent Systems with Input Saturations  

Lim, Young-Hun (Department of Electronic Engineering, Gyeongnam National University of Science and Technology)
Tack, Han-Ho (Department of Electronic Engineering, Gyeongnam National University of Science and Technology)
Kang, Shin-Chul (Department of Electricity, University of Gyeongnam Namhae)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.25, no.1, 2021 , pp. 102-107 More about this Journal
Abstract
This paper discusses the containment control problem for multi-agent systems with input saturations. The goal of the containment control is to obtain swarming behavior by driving follower agents into the convex hull which is spanned by multiple leader agents. This paper considers multiple leader agents moving at the same constant speed. Then, to solve the containment problem for moving leaders, we propose a PI-based distributed control algorithm. We next analyze the convergence of follower agents to the desired positions. Specifically, we apply the integral-type Lyapunov function to take into account the saturation nonlinearity. Then, based on Lasalle's Invariance Principle, we show that the asymptotic convergence of error states to zero for any positive constant gains. Finally, numerical examples with the static and moving leaders are provided to validate the theoretical results.
Keywords
Containment control; Input saturation; Multi-agent system; Distributed control;
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