@article{Liu2025, 
author = {Enbo Liu and Yu Zhao and Zhisheng Duan},
title = {Specified-Time Formation-Containment Control for General Linear Multi-Agent Systems Over Layered Interaction Networks},
year = {2025},
journal = {Unmanned Systems},
volume = {13},
number = {5},
pages = {1349-1363},
keywords = {Specified-time, formation-containment control, general linear multi-agent systems},
url = {https://www.sciopen.com/article/10.1142/S2301385025440066},
doi = {10.1142/S2301385025440066},
abstract = {This paper addresses the specified-time formation-containment control problem for general linear multi-agent systems over directed interaction networks. The interaction network is divided into three layers containing a tracking-leader with a bounded input, formation-leaders and followers. First, under overall planning and multi-step control framework, a novel terminal constraint is designed. Then, by applying Pontryagin’s maximum principle, a class of distributed specified-time formation-containment control algorithms is developed, where the settling time can be pre-specified and independent of system parameters or initial states. Further, robustness analysis against bounded unknown disturbances is rigorously conducted to validate disturbance rejection capabilities. Finally, a simulation example involving multi-robot formation-containment control is presented to demonstrate the effectiveness of the proposed algorithms.}
}