On Containment for Linear Systems With Switching Topologies: A Novel State Transition Matrix Perspective

IEEE Trans Cybern. 2022 Feb;52(2):1061-1072. doi: 10.1109/TCYB.2020.2991514. Epub 2022 Feb 16.

Abstract

This article studies the containment control problem for a group of linear systems, consisting of more than one leader, over switching topologies. The input matrices of these linear systems are not required to have full-row rank and the switching can be arbitrary, making the problem quite general and challenging. We propose a novel analysis framework from the viewpoint of a state transition matrix. Specifically, according to the inherent linearity, we successfully establish a connection between state transition matrices of the above multileader system and a virtual leader-following system obtained by combining those leaders. This enlightening result relates the containment problem to a consensus one. Then, by analyzing the property of the state transition matrix, we uncover that each component of any follower's state converges to the convex hull spanned by the corresponding components of the leaders', provided some mild conditions are satisfied. These conditions are derived in terms of the concept of a positive linear system. A special case of the second-order linear system is further discussed to illustrate these conditions. Moreover, two different design methods of the feedback gain matrix are provided, which additionally require that the network topology contains a united spanning tree all the time.