中国物理B ›› 2025, Vol. 34 ›› Issue (10): 100503-100503.doi: 10.1088/1674-1056/addaa5
Observer-based prescribed-time time-varying output formation-containment control of heterogeneous multi-agent systems
Haiyang Hu(胡海洋)1, Tao Li(李涛)1,†, Xiaowen Zhao(赵小文)2, Yuanmei Wang(王圆妹)3, Jialong Tian(田家龙)1, and Zijie Jiang(姜子杰)1
- 1 School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China;
2 School of Mathematics, Hefei University of Technology, Hefei 230009, China;
3 School of Electronic Information and Electrical Engineering, Yangtze University, Jingzhou 434023, China
Observer-based prescribed-time time-varying output formation-containment control of heterogeneous multi-agent systems
Haiyang Hu(胡海洋)1, Tao Li(李涛)1,†, Xiaowen Zhao(赵小文)2, Yuanmei Wang(王圆妹)3, Jialong Tian(田家龙)1, and Zijie Jiang(姜子杰)1
- 1 School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China;
2 School of Mathematics, Hefei University of Technology, Hefei 230009, China;
3 School of Electronic Information and Electrical Engineering, Yangtze University, Jingzhou 434023, China
摘要： This paper investigates the observer-based prescribed-time time-varying output formation-containment (PT-TV-OFC) control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions. The system comprises one tracking leader, multiple formation leaders, and followers, where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation, respectively. Firstly, a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state. On this basis, a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation. Then, a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders. Using the estimated convex hull information, a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull. Furthermore, using Lyapunov stability theory, the stability of systems is proved in detail, which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control. Finally, numerical simulations validate the feasibility of the theoretical results.
中图分类号: (Self-organized systems)
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