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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 |
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Abstract 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.
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Received: 11 April 2025
Revised: 12 May 2025
Accepted manuscript online: 20 May 2025
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| Fund: Project supported in part by the National Natural Science Foundation of China (Grant Nos. 62473135 and 62173121). |
Corresponding Authors:
Tao Li
E-mail: taohust2008@163.com
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Cite this article:
Haiyang Hu(胡海洋), Tao Li(李涛), Xiaowen Zhao(赵小文), Yuanmei Wang(王圆妹), Jialong Tian(田家龙), and Zijie Jiang(姜子杰) Observer-based prescribed-time time-varying output formation-containment control of heterogeneous multi-agent systems 2025 Chin. Phys. B 34 100503
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