Containment Control of Multiagent Systems With Dynamic Leaders Based on a $PI^{n}$ -Type Approach

  title={Containment Control of Multiagent Systems With Dynamic Leaders Based on a \$PI^\{n\}\$ -Type Approach},
  author={Yunpeng Wang and Long Cheng and Wei Ren and Zeng-Guang Hou and Min Tan},
  journal={IEEE Transactions on Cybernetics},
This paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by the nth-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. In order to drive all followers into the convex hull spanned by the leaders, a PIn-type containment algorithm is… CONTINUE READING
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