Containment control protocol and its convergence speed analysis for double-integrator dynamics systems

Abstract:

A general containment control algorithm is proposed for distributed coordinated control of double-integrator dynamics system with multiple leaders. Necessary and sufficient conditions on convergence are presented based on the control gains and system Laplacian eigenvalues. Furthermore, the influences of control gains and the information topology on system convergence rate are investigated. Specifically, the control gains which achieve maximal convergence rate are given, and it is proved by using Weyl theorem that the system convergence rate can be improved by adding information links. Finally, numerical simulations are given to illustrate the main results.