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Robust containment control for uncertain multi-agent systems with inherent nonlinear dynamics

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  • Ping Wang
  • Yingmin Jia

Abstract

This article considers the distributed containment control problem of nonlinear multi-agent systems subject to parameter uncertainties and external disturbances. An appropriate controlled output function is defined to quantitatively analyse the effect of external disturbances on the containment control problem. By employing robust H∞ control approach, sufficient conditions in terms of linear matrix inequalities (LMIs) are derived to ensure that all followers asymptotically converge to the convex hull spanned by the leaders with the prescribed H∞ performance under fixed topology. Moreover, the unknown feedback matrix of the proposed protocol is determined by solving only two LMIs with the same dimensions as a single agent. Finally, a numerical example is provided to demonstrate the effectiveness of our theoretical results.

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  • Ping Wang & Yingmin Jia, 2016. "Robust containment control for uncertain multi-agent systems with inherent nonlinear dynamics," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(5), pages 1073-1083, April.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:5:p:1073-1083
    DOI: 10.1080/00207721.2014.911391
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    Cited by:

    1. Cai, Yuliang & Dai, Jing & Zhang, Huaguang & Wang, Yingchun, 2021. "Fixed-time leader-following/containment consensus of nonlinear multi-agent systems based on event-triggered mechanism," Applied Mathematics and Computation, Elsevier, vol. 396(C).

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