Distributed containment control for bounded unknown second-order nonlinear multi-agent systems with dynamic leaders

被引：32
作者：
Liu, Zhongxin [1 ,2 ]
Jin, Qitian [1 ,2 ]
Chen, Zengqiang [1 ,2 ]
机构：
[1] Nankai Univ, Dept Automat, Tianjin 300071, Peoples R China
[2] Nankai Univ, Tianjin Key Lab Intelligent Robot, Tianjin 300071, Peoples R China
来源：
NEUROCOMPUTING | 2015年 / 168卷
基金：
中国国家自然科学基金;
关键词：
Containment control; Multi-agent systems; Nonlinear system; High-frequency feedback robust control; CONSENSUS; AGENTS;
D O I：
10.1016/j.neucom.2015.05.009
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper investigates distributed containment control problems for second-order nonlinear multiagent systems with dynamic leaders. In the presence of bounded unknown nonlinearity, a distributed control algorithm based on High-frequency Feedback Robust Control is proposed. Under this algorithm, a sufficient condition is proposed to ensure that all the followers will converge to the dynamic convex hull formed by dynamic leaders and the containment error can be ultimately bounded for the directed graph where at least one leader has a directed path to each follower and the communication among the followers are undirected. Numerical simulations are also presented to illustrate the effectiveness of the theoretical results. (C) 2015 Elsevier B.V. All rights reserved.
引用
收藏
页码：1138 / 1143
页数：6
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