Controllable containment control of multi-agent systems with strongly connected sub-graph
CHEN Shi-ming
WANG Pei
LI Hai-ying
LAI Qiang
Abstract：In this paper, the leader selection and controllable containment for given topology that has strongly connected sub-graph of directed multi-agent systems is investigated. According to the topology structure, the agents are classified into two categories: unit agents and general agents. Firstly, the consensus protocol of unit agents in the strongly connected graph is designed to achieve consensus of each unit; Secondly, a new topological structure is constructed by unit agents and general agents. Combining the complex network controllability theory with the algorithm of bipartite graph maximum matching to determine the minimum leader set satisfying the network controllable. Then the corresponding control protocol is designed for all agents, which drives all followers to asymptotically converge to the dynamic convex hull spanned by the leaders, so as to the controllable containment control of the whole network is realized. Finally, the simulation results are provided to illustrate the correctness of the theoretical analysis.
Keywords：multi-agent systemsdirected topologycontainment controlleader selection
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 401-407 )