Title :
Hierarchical Cooperative Control for Multiagent Systems With Switching Directed Topologies
Author :
Jianqiang Hu ; Jinde Cao
Author_Institution :
Key Lab. of Meas. & Control of CSE, Southeast Univ., Nanjing, China
Abstract :
The hierarchical cooperative control problem is concerned for a two-layer networked multiagent system under switching directed topologies. The group cooperative objective is to achieve finite-time formation control for the upper layer of leaders and containment control for the lower layer of followers. Two kinds of cooperative strategies, including centralized-distributed control and distributed-distributed control, are proposed for two types of switching laws: 1) random switching law with the dwell time and 2) Markov switching law with stationary distribution. Utilizing the state transition matrix methods and matrix measure techniques, some sufficient conditions are derived for asymptotical containment control and exponential almost sure containment control, respectively. Finally, some numerical examples are provided to demonstrate the effectiveness of the proposed control schemes.
Keywords :
Markov processes; distributed control; hierarchical systems; matrix algebra; multi-agent systems; multi-robot systems; topology; Markov switching law; asymptotical containment control; centralized-distributed control; distributed-distributed control; finite-time formation control; hierarchical cooperative control; matrix measure technique; random switching law; state transition matrix method; stationary distribution; switching directed topology; two-layer networked multiagent system; Markov processes; Multi-agent systems; Network topology; Protocols; Switches; Topology; Containment control; finite-time formation; multiagent system; switching topology; two-layer network; two-layer network.;
Journal_Title :
Neural Networks and Learning Systems, IEEE Transactions on
DOI :
10.1109/TNNLS.2014.2386858
