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Coordination Control for a Class of Multi-Agent Systems Under Asynchronous Switching

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Abstract

This paper studies the coordination control of nonlinear multi-agent systems under asynchronous switching, including consensus, tracking control, and containment. The asynchronous switching considered here means that the switching of the controller lags behind the mode’s switching for each agent. So the matched controller is interrupted by the delayed switching. For the situation, the authors give some new results by applying the conventional distributed control protocol. The authors show that all agents can achieve consensus. Secondly, the authors show that all followers can track the actual leader. Thirdly, the authors show that all followers will converge to the convex hull spanned by the dynamic leaders as time goes on. Numerical simulations are also provided and the results show highly consistent with the theoretical results.

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Authors and Affiliations

  1. College of Automation, Hangzhou Dianzi University, Hangzhou, 310027, China

    Xiaodan Zhao

  2. Big Date Decision Institute, Jinan University, Guangzhou, 510632, China

    Wenhui Liu

  3. College of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China

    Chunjie Yang

Authors
  1. Xiaodan Zhao
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  2. Wenhui Liu
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  3. Chunjie Yang
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Corresponding author

Correspondence to Wenhui Liu.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant No. 61333007.

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Zhao, X., Liu, W. & Yang, C. Coordination Control for a Class of Multi-Agent Systems Under Asynchronous Switching. J Syst Sci Complex 32, 1019–1038 (2019). https://doi.org/10.1007/s11424-018-7311-9

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  • DOI: https://doi.org/10.1007/s11424-018-7311-9

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