Containment control for heterogeneous multi-agent systems with time delay via an output regulation approach

作     者：WEI Wenjun LÜJiahui Huang Julong GE Junde 魏文军;吕家慧;黄巨龙;葛俊德

作者机构：School of Automation and Electrical Engineering Lanzhou Jiaotong University Lanzhou 730070 China Key Lab of Opti-Electronic Technology and Intelligent Control of Ministry of Education Lanzhou Jiaotong University Lanzhou 730070 China China Energy Engineering Group Gansu Electric Power Design Institute Co. Ltd. Lanzhou 730050 China 

出 版 物：《Journal of Measurement Science and Instrumentation》 (测试科学与仪器（英文版）)

年 卷 期：2022年第13卷第1期

页      面：79-88页

核心收录：

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Key Research and Development Plan of China(No.2017YFB1201003-020) National Natural Science Foundation of China(Nos.61663020,61661027) 

主　　题：heterogeneous multi-agent systems output regulation linear time-delay systems containment control 

摘      要：This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output *** leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the *** system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov ***,a numerical example is given to illustrate the validity of the theoretical results.