IEEE Trans Cybern. 2014 Sep;44(9):1518-28. doi: 10.1109/TCYB.2013.2288980.
In this paper, the distributed finite-time containment control problem for double-integrator multiagent systems with multiple leaders and external disturbances is discussed. In the presence of multiple dynamic leaders, by utilizing the homogeneous control technique, a distributed finite-time observer is developed for the followers to estimate the weighted average of the leaders' velocities at first. Then, based on the estimates and the generalized adding a power integrator approach, distributed finite-time containment control algorithms are designed to guarantee that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time. Moreover, as a special case of multiple dynamic leaders with zero velocities, the proposed containment control algorithms also work for the case of multiple stationary leaders without using the distributed observer. Simulations demonstrate the effectiveness of the proposed control algorithms.
本文讨论了具有多个领导者和外部干扰的双积分多智能体系统的分布式有限时间牵制控制问题。在多个动态领导者的情况下，通过利用齐次控制技术，为跟随者开发了一个分布式有限时间观测器，首先估计领导者速度的加权平均值。然后，基于这些估计值和广义加幂积分方法，设计分布式有限时间牵制控制算法，以确保跟随者的状态在有限时间内收敛到领导者状态的动态凸包。此外，作为具有零速度的多个动态领导者的一个特例，所提出的牵制控制算法也适用于多个静止领导者的情况，而无需使用分布式观测器。仿真结果验证了所提出控制算法的有效性。
