Finite-gain based prescribed-time rotating containment control for second-order multi-agent systems

作     者：Ziguo Liu Yujuan Wang Qing Chen 

作者机构：International Joint Laboratory on Safety and Control of Autonomous Unmanned Systems of Ministry of Education Chongqing University Chongqing 400044 China School of Automation Chongqing University Chongqing 400044 China School of Electrical Engineering Chongqing University of Science and Technology Chongqing 401331 China 

出 版 物：《Journal of the Franklin Institute》 

年 卷 期：2025年

学科分类：07[理学] 08[工学] 

摘      要：This work investigates the problem of prescribed-time rotating containment control of a second-order multi-agent systems in a directed topology based on polar coordinate, where multiple moving leaders with rotating motion are involved. A new finite time-varying gain based hybrid prescribed-time control approach consisting of prescribed-time observer and prescribed-time controller, is utilized which enables the numerical implementation issues caused by the infinite time-varying gain to be avoid. The proposed rotating containment control approach ensures that the states of the followers can enter the convex hull formed by that of the moving rotating leaders within a finite time uniforming in any design parameters and initial conditions. Both the numerical simulation and physical experiments are provided to confirm the effectiveness of the proposed method.