Containment Control of Second-order Multi-agent Systems Under Directed Graphs and Communication Constraints

TL;DR

This paper develops distributed control algorithms for second-order multi-agent systems to achieve containment control despite intermittent communication, delays, and packet loss, extending to nonlinear dynamics with proven effectiveness.

Contribution

It introduces novel control algorithms that handle directed graphs, communication constraints, and nonlinear dynamics for containment control in multi-agent systems.

Findings

Control algorithms achieve containment under communication delays and packet loss.

Proven convergence with sufficient control gains and communication conditions.

Validated effectiveness through simulations and examples.

Abstract

The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the containment control problem of second-order multi-agent systems with multiple dynamic leaders under a directed interconnection graph topology. Also, communication between agents is performed only at some discrete instants of time in the presence of irregular communication delays and packet dropout. First, we present distributed control algorithms for double integrator dynamics in the full and partial state feedback cases. Then, we propose a method to extend our results to second-order systems with locally Lipschitz nonlinear dynamics. In both cases, we show that the proposed approach leads to our control objectives under sufficient conditions relating the characteristics of the communication process and the control gains. We also show that our approach can be applied to solve various similar coordination problems in multi-agent systems under the same communication constraints. The effectiveness of the proposed control schemes is illustrated through some examples and numerical simulations.