Output-feedback containment control for multi-agents under dynamic self-triggered communication
Aiming at the limited bandwidth of swarm system commumcation network,an output-feedback containment control method of directed high-order nonlinear multi-agent systems under dynamic self-triggered communication is proposed.Firstly,aiming at the limited bandwidth of swarm system communication network,a novel dynamic self-triggered communication mechanism is proposed.Compared with the traditional event-triggered communication mechanism,the proposed dynamic self-triggered communication mechanism has a larger triggering threshold and does not need to continuously monitor the system state information,which further saves the system communication resources and sensor resources.Secondly,an output-feedback control protocol is devised such that all the followers converge into the convex hull spanned by the leaders,realizing the multi-leaders containment control of the network.Finally,the effectiveness of the control method and the correctness of the theoretical analysis are verified by the hypersonic flight vehicle swarms.
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