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Adaptive distributed observer design for containment control of heterogeneous discrete-time swarm systems |
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| Institution: | 1. Department of Electrical and Computer Engineering, University of Alberta, Alberta T6G 2R3, Canada;2. School of Intelligent Systems Engineering, Sun Yat-Sen University, Guangzhou 510006, China;3. Department of Civil and Environmental Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China;4. School of Automation, Guangdong University of Technology, Guangzhou 510006, China;5. School of Marine Engineering, Dalian Maritime University, Dalian 116026, China |
| Abstract: | This paper develops both adaptive distributed dynamic state feedback control law and adaptive distributed measurement output feedback control law for heterogeneous discrete-time swarm systems with multiple leaders. The convex hull formed by the leaders and the system matrix of leaders is estimated via an adaptive distributed containment observer. Such estimations will feed the followers so that every follower can update the system matrix of the corresponding adaptive distributed containment observer and the system state of their neighbors. The followers cooperate with each other to achieve leader–follower consensus and thus solve the containment control problem over the network. Numerical results demonstrate the effectiveness and computational feasibility of the proposed control laws. |
| Keywords: | Adaptive distributed containment observer Containment control Discrete-time system Heterogeneous agent Swarm system |
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