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Velocity-free containment control with binary relative measurements only

Author

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  • Shukla, Ashish
  • Dunna, Vijaya Kumar
  • Sen, Arijit

Abstract

This paper introduces a containment control law for a multi-agent system (MAS) of double integrator agents using only relative position information. Unlike existing methods, this approach eliminates the need for velocity or exact position measurements as feedback, reducing communication and sensor requirements. Using the non-smooth Lyapunov analysis, we prove the convergence of the proposed control law under any detailed-balanced network with any positive gains. Moreover, the controller inherently guarantees bounded control effort and finite-time or fixed-time convergence without needing any additional update law. Finally, the numerical simulations demonstrate the effectiveness of the proposed method.

Suggested Citation

  • Shukla, Ashish & Dunna, Vijaya Kumar & Sen, Arijit, 2025. "Velocity-free containment control with binary relative measurements only," Chaos, Solitons & Fractals, Elsevier, vol. 190(C).
    • Handle: RePEc:eee:chsofr:v:190:y:2025:i:c:s0960077924012803
    DOI: 10.1016/j.chaos.2024.115728
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    References listed on IDEAS

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    1. Guha, Dipayan, 2023. "Non-integer disturbance observer-aided resilient frequency controller applied to hybrid power system," Chaos, Solitons & Fractals, Elsevier, vol. 170(C).
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    3. Chaudhary, Aniket Karan & Roy, Satyabrata & Guha, Dipayan & Negi, Richa & Banerjee, Subrata, 2024. "Adaptive cyber-tolerant finite-time frequency control framework for renewable-integrated power system under deception and periodic denial-of-service attacks," Energy, Elsevier, vol. 302(C).
    4. Xiao, Yuzhu & Xie, Haohao & Zhao, Nannan, 2024. "Couple-group consensus of heterogeneous nonlinear multi-agent systems with cooperative–competitive interactions and input saturation," Chaos, Solitons & Fractals, Elsevier, vol. 179(C).
    5. J. J. Fu & J. Z. Wang & Z. K. Li, 2017. "Leader-following control of perturbed second-order integrator systems with binary relative information," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(3), pages 485-493, February.
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