Bipartite containment control of multi-agent systems under channel imperfections: when bit-flips meet packet-losses

Abstract

This paper investigates bipartite containment control of linear multi-agent systems under channel imperfections using source binary coding schemes with bit-flips and packet-losses. The communication channels are allocated through an average allocation protocol. The source binary coding scheme for measurement outputs is employed, and a finite-length bit stream is designed to satisfy the requirement of channel capacity. The paper aims to establish mean-square bipartite containment conditions under communication constraints such that the containment error is bounded. First, the statistical properties of the aggregated error are derived. Then, a sufficient condition is obtained to ensure bipartite containment in the mean-square sense. Furthermore, with the free matrix approach and the matrix inequality method, the control gain is obtained to ensure the existence of a desired controller. Finally, two examples are provided to illustrate the effectiveness of the results.