Abstract The objective of containment control in multi-agent systems is to design control algorithms for the followers to converge to the convex hull spanned by the leaders. Sampled-data based containment control algorithms are suitable for the cases where the power supply and sensing capacity are limited, due to their low-cost and energy-saving features resulting from discrete sensing and interactions. In addition, sampled-data control has advantages in performance, price and generality. On the other hand, when the agents have double-integrator dynamics and the leaders are dynamic with nonzero inputs, the existing algorithms are not directly applicable in a sampled-data setting. To this end, this paper proposes a sampled-data based containment control algorithm for a group of double-integrator agents with dynamic leaders with nonzero inputs under directed communication networks. By applying the proposed control algorithm, the followers converge to the convex hull spanned by the dynamic leaders with bounded position and velocity containment control errors, and the ultimate bound of the overall containment error is proportional to the sampling period. A numerical simulation is presented to illustrate the proposed algorithm.

中文翻译：

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具有非零输入的动态领导者的双积分器代理的采样数据包含控制

摘要 多智能体系统中包含控制的目标是设计控制算法，使追随者收敛到领导者跨越的凸包。基于采样数据的遏制控制算法适用于电源和传感能力有限的情况，因为它们具有离散传感和交互产生的低成本和节能特性。此外，采样数据控制在性能、价格和通用性方面具有优势。另一方面，当代理具有双积分器动力学并且领导者是具有非零输入的动态时，现有算法不能直接适用于采样数据设置。为此，本文提出了一种基于采样数据的包含控制算法，用于在定向通信网络下具有非零输入的动态领导者的一组双积分器代理。通过应用所提出的控制算法，跟随者收敛到由具有有界位置和速度遏制控制误差的动态领导者跨越的凸包，并且总体遏制误差的最终界限与采样周期成正比。提出了一个数值模拟来说明所提出的算法。