Lyapunov-Based Output Containment Control of Heterogeneous Multi-Agent Systems With Markovian Switching Topologies and Distributed Delays

This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.

H_(∞)-PID distributed control for output leader-tracking and containment of heterogeneous MASs with external disturbances

This paper addresses both the output leader-tracking and output containment control prob-lems for heterogeneous linear high-order Multi-Agent Systems(MASs)sharing information over a directed communication topology and subject to external unknown disturbances.To solve these control problems,we propose a robust fully distributed Proportional-Integral-Derivative(PID)control strategy,equipped with a filter on the derivative action that allows obtaining both a simpler closed-loop formulation,without the need of the descriptor transformation,and good tracking performances in the case of fast reference signal behaviours.The stability analysis is analytically proven via the Lyapunov theory and the H_(∞) approach.The derived robust stability conditions are expressed as a set Linear Matrix Inequalities(LMIs)whose solution provides the proper tuning of the robust PID control gains.Numerical simulations confirm the effectiveness and robustness of the proposed approach in solving both the output leader-tracking and output containment control problems.