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Asymptotic containment control of uncertain multi-agent systems with partially unknown non-identical control directions.
- Source :
-
Journal of the Franklin Institute . Apr2023, Vol. 360 Issue 6, p4456-4475. 20p. - Publication Year :
- 2023
-
Abstract
- This paper investigates the precise containment control problem for nonlinear multi-agent systems (MAS) subject to non-vanishing uncertainties and unknown non-identical control directions under directed communication topology. Due to the existence of the inherent non-vanishing/non-parametric uncertainties and unknown control directions, the precise (zero-error) containment control synthesis becomes nontrivial. The underlying problem becomes even complicated if the convergence rate is required to be pre-specified. This work aims at circumventing the aforementioned difficulties to derive a precise containment control solution. The salient features behind the derived algorithms are: i) the non-vanishing uncertainties are completely rejected; ii) the containment error is regulated to zero at prescribed convergence rate, in spite of the non-vanishing uncertainties and unknown non-identical control directions; and iii) the full-state containment rather than output containment is achieved. A simulation example is given to confirm the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00160032
- Volume :
- 360
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- Journal of the Franklin Institute
- Publication Type :
- Periodical
- Accession number :
- 162894038
- Full Text :
- https://doi.org/10.1016/j.jfranklin.2023.02.002