Necessary and Sufficient Conditions of Formation-Containment Control of High-Order Multiagent Systems With Observer-Type Protocols

Fully distributed dynamic event-triggered formation-containment control for networked unmanned surface vehicles with intermittent wireless network communications

Favorable neighboring interactions and economical transmission costs are the foundations of formation-containment control (FCC), while the complex marine environments hamper its expansion on networked unmanned surface vehicles (USVs). In this context, this paper investigates an intermittent dynamic event-triggered control scheme for USVs experiencing communication interruptions to achieve FCC. Specifically, the control architecture consists of two synchronously working sub-layers. In the first layer, an intermittent communications-based formation tracking controller is initially developed to endow USVs with higher endurance against communication interruptions, such that the leader USVs can form a desired formation pattern while following a virtual leader. Meanwhile, a dynamic event-triggered mechanism (DETM) is incorporated into the intermittent controller to reduce the update frequency of control signals with computable minimum inter-event time (MIET). Similarly, an intermittent DETM-based controller is proposed for followers to achieve containment missions in the second layer. Moreover, the global information is unnecessary with time-varying control gains. Finally, the simulations are provided to verify the effectiveness and superiority of the proposed control scheme.

Fixed-time time-varying output formation-containment control of heterogeneous general multi-agent systems

This work investigates fixed-time time-varying output formation-containment control of heterogeneous general multi-agent systems, which comprises one virtual leader, multiple leaders, and followers. First, fixed-time nonlinear control law is constructed, such that leaders can achieve time-varying output formation in a finite time. Meanwhile, leaders can track the virtual leader's output trajectory. Next, two complete distributed adaptive fixed-time observers are designed aiming to recover a convex hull. This is key to control issue in this paper. Further, nonlinear control law is constructed for followers, such that followers can move into the convex hull formed by multiple leaders. Finally, two examples are provided to verify the feasibility of the theoretical results.