Allocating the Minimum Number of Leaders for Seeking Containment Control of Second-Order Nonlinear Multi-agents
摘要
This paper discusses the containment control problem of nonlinear multi-agent systems with the minimum number of leaders under an arbitrary directed network. The minimum number of leaders within any directed network are simulated as leader agents. A convex hull region, composed of these leader agents, is defined, and containment control of nonlinear systems is achieved through the revisited containment control protocol. The final simulation results demonstrate that the states of all follower agents can gradually converge to the convex hull composed of these leader agents, which shows the effectiveness of the proposed method.