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Bearing-Based Containment Control of Multi-agent Systems with Disturbances

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Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1204))

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Abstract

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller.

This work was supported in part by the National Natural Science Foundation of China under Grants 62103277, 62025305, and in part by the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University under Grant SL2022MS008.

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Mengmeng Duan, Ziwen Yang, Shanying Zhu & Cailian Chen

  2. Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China

    Mengmeng Duan, Ziwen Yang, Shanying Zhu & Cailian Chen

  3. Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai, 200240, China

    Mengmeng Duan, Ziwen Yang, Shanying Zhu & Cailian Chen

Authors
  1. Mengmeng Duan
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  2. Ziwen Yang
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  3. Shanying Zhu
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  4. Cailian Chen
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Corresponding author

Correspondence to Shanying Zhu .

Editor information

Editors and Affiliations

  1. School of Automation, Nan**g University of Posts and Telecommunications, Nan**g, Jiangsu, China

    Guo-** Jiang

  2. School of Automation Science and Electrical Engineering, Beihang University, Bei**g, China

    Mengyi Wang

  3. School of Automation Science and Electrical Engineering, Beihang University, Bei**g, China

    Zhang Ren

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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Duan, M., Yang, Z., Zhu, S., Chen, C. (2024). Bearing-Based Containment Control of Multi-agent Systems with Disturbances. In: Jiang, GP., Wang, M., Ren, Z. (eds) Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control. CCSICC 2023. Lecture Notes in Electrical Engineering, vol 1204. Springer, Singapore. https://doi.org/10.1007/978-981-97-3340-8_27

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