具有非合作连边的一般线性多智能体系统包含控制研究

本文研究了通信拓扑中具有非合作连边的一般线性多智能体系统的包含控制问题.系统中允许多个领导者的存在，这些领导者的状态可以通过它们与邻居领导者进行交互而动态地变化.采用最近邻居规则设计分布式控制协议，利用线性矩阵不等式技术和线性系统控制理论证明了跟随者的状态轨迹最终收敛到由领导者的状态轨迹及领导者相反轨迹生成的凸包中，成功解决了符号图上线性多智能体系统的包含控制问题.仿真结果验证了结论的正确性.

Containment control of general linear multi-agent systems with non-cooperative edges

This paper considers the containment control problem for general linear multi-agent systems which have communication topologies with non-cooperative edges.It admits multiple leaders which are dynamically changing via interactions between themselves and the neighboring leaders.A distributed control protocol is designed with the nearest neighbor rule.By using the linear matrix inequality technique and the linear system control theory,it is shown that the followers'' state trajectories can converge to the convex hull formed by each leader''s trajectory as well as its symmetric trajectory,and the containment control problem for linear multi-agent system over signed graph can be achieved.Simulation results are performed to verify the correctness of the conclusion.