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Volume 10 Issue 6
Jun.  2023

IEEE/CAA Journal of Automatica Sinica

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J. S. Sang, D. Z. Ma, and  Y. Zhou,  “Group-consensus of hierarchical containment control for linear multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 6, pp. 1462–1474, Jun. 2023. doi: 10.1109/JAS.2023.123528
Citation: J. S. Sang, D. Z. Ma, and  Y. Zhou,  “Group-consensus of hierarchical containment control for linear multi-agent systems,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 6, pp. 1462–1474, Jun. 2023. doi: 10.1109/JAS.2023.123528

Group-Consensus of Hierarchical Containment Control for Linear Multi-Agent Systems

doi: 10.1109/JAS.2023.123528
Funds:  This work was supported in part by the National Natural Science Foundation of China (U22A20221, 62073064), and in part by the Fundamental Research Funds for the Central Universities in China (N2204007)
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  • The existing containment control has been widely developed for several years, but ignores the case for large-scale cooperation. The strong coupling of large-scale networks will increase the costs of system detection and maintenance. Therefore, this paper is concerned with an extensional containment control issue, hierarchical containment control. It aims to enable a multitude of followers achieving a novel cooperation in the convex hull shaped by multiple leaders. Firstly, by constructing the three-layer topology, large-scale networks are decoupled. Then, under the condition of directed spanning group-tree, a class of dynamic hierarchical containment control protocol is designed such that the novel group-consensus behavior in the convex hull can be realized. Moreover, the definitions of coupling strength coefficients and the group-consensus parameter in the proposed dynamic hierarchical control protocol enhance the adjustability of systems. Compared with the existing containment control strategy, the proposed hierarchical containment control strategy improves dynamic control performance. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed hierarchical control protocol.

     

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    Highlights

    • To deal with the congestion and save the communicated bandwidth caused by large emergence of followers, the hierarchical containment control strategy is developed in this paper, which multiple control targets for large-scale cooperation can be achieved simultaneously. It aims to accommodate the group-consensus behavior in the convex hull shaped by multiple leaders
    • The transformed three-layer topology facilitates the decoupled of large-scale networks, which provides the precondition for parallel control targets. The novel group-consensus behavior is generated that covers the cases of independent groups and interacted groups
    • Due to the completely dependence of the control protocol on the topological structure, the approaches of the existing containment control protocols and the group-consensus protocols are infeasible. Thus, the dynamic hierarchical containment control protocol is designed such that the group-consensus behavior can be achieved in the convex hull. Especially, the proposed hierarchical containment control protocol requires not only the information of neighbor agents, but also the agents’ layer
    • Based on the decoupled three-layer topology, two defined coupling strength coefficients and the group-consensus parameter in the dynamic hierarchical containment control protocol bring the flexibility for control. Adjusting the coupling strength coefficients and the group-consensus parameter, the dynamic performance can be improved. In contrast to the existing containment control strategy, the proposed hierarchical containment control strategy exhibits better containment performance

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