Reach control problem for affine multi-agent systems on simplices

• Autores: Yuhu Wu, Weiguo Xia, Ming Cao, Xi-Ming Sun
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 107, 2019, págs. 264-271
• Idioma: inglés
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• Resumen

  • This paper studies the reach control problem for a coupled affine multi-agent system, which aims to find an affine feedback control for the trajectories of the agents to reach and exit a particular facet of a given simplex in the state space in finite time. The interactions between agents characterized by diffusive coupling prevent the effective construction of controller using the well developed techniques to study similar problems for affine single-agent systems. In fact, the affine feedback control designed for a single affine system may not work for the multi-agent case anymore as some agent can be driven to exit the simplex through a restricted facet under the influence from its coupled peers. A sufficient condition is developed to guarantee that all the agents move continuously in a cone containing the simplex and exit through the exit facets in finite time under an affine feedback control. A numerical example is given to verify the effectiveness of our derived result.