In this dissertation, we study the consensus and containment control problems for second-order multi-agent systems. It is assume that the agents can exchange the position and velocity information with neighboring agents. In real applications, the agents may use different sensors to measure the position and velocity states, and the loss of information across communication links may occurs. Therefore, the agents can exchange the position and velocity information over different communication graphs. Moreover, many real systems have the input saturations due to limited capacity of actuators. The input saturations can cause the performance degradation, and even unstability of the system. While the consensus and containment control problems with heterogeneous state information have been addressed, the saturation problems have rarely considered. Therefore, this dissertation proposes the consensus and containment control algorithms under the heterogeneous state information and the input saturations. Specifically, the problems considered in this paper can be summarized as follows:
First, we study the leader-following consensus problem under the heterogeneous state information and the input saturations. Further we consider the disturbances acting on the follower agents. Then, to achieve the leader-following consensus, we propose PI-based consensus algorithm. Based on Lasalle’s invariance principle, we investigate the conditions of the control gains and the position and velocity communication graphs. It is shown that the control gains can be chosen using the system parameters and the consensus requires only the connected position graph.
Second, by extending the leader-following consensus problem, we study the containment control problem and propose PI-based containment control algorithm. We analyze the conditions for the control gains and it is shown that the containment control problem can solve if the position graph is connected and the velocity graph contains K-connected sub-graphs.