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Robust output containment control of multi-agent systems with unknown heterogeneous nonlinear uncertainties in directed networks

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  • Changyin Sun
  • Qing Wang
  • Yao Yu

Abstract

Output containment problem for high-order nonlinear time-invariant multi-agent systems in directed networks is investigated in this paper. The output is related with the observation matrix. The dimensions of observation matrix are extended so that it is non-singular. Then the containment problem is transformed into stability problem. The model of each agent is constructed by a nominal system combined with uncertainties. A robust controller, which includes a nominal controller and a robust compensator, is proposed to achieve output containment and restrain external uncertainties. The nominal controller is based on the output feedback and the nominal system constructed by the nominal controller contains desired containment properties. The robust compensator design is based on robust signal compensation technology for restraining the effects of external disturbances. A sufficient condition on the output containment is proposed and the containment errors can be made as small as desired with the expected convergence rate. Finally, numerical simulation is presented to demonstrate the effectiveness of the control method.

Suggested Citation

  • Changyin Sun & Qing Wang & Yao Yu, 2017. "Robust output containment control of multi-agent systems with unknown heterogeneous nonlinear uncertainties in directed networks," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(6), pages 1173-1181, April.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:6:p:1173-1181
    DOI: 10.1080/00207721.2016.1244306
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    1. Editors, 2014. "International Journal of Systems Science," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(12), pages 1-1, December.
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