Robust containment tracking of uncertain linear multi-agent systems: A non-smooth control approach

Guanghui Wen, Zhisheng Duan, Yu Zhao, Wenwu Yu, Jinde Cao

Research output: Contribution to journalArticlepeer-review

47 Scopus citations

Abstract

This paper addresses the distributed robust containment tracking problem of networked systems with uncertain linear dynamics and multiple controlled leaders. The uncertainty class considered in this paper satisfies some matched conditions. To achieve containment tracking in such a multi-agent system, some distributed controllers consisting of using relative state-based continuous feedback and a non-smooth manoeuvre are developed. By transforming the containment tracking problem into the global robust stabilisation problem of interconnected systems, it is shown that the states of followers will asymptotically converge to a convex hull formed by those of the leaders if the control parameters in the proposed controllers are appropriately selected. It is clearly pointed out that the involved control parameters can be successfully found for solving the containment tracking problem if each follower can be directly or indirectly influenced by at least one leader, and the nominal dynamics of followers are stabilisable. The important issue of how fast containment can be achieved is also addressed. Finally, some numerical simulations are given for illustration.

Original languageEnglish
Pages (from-to)2522-2534
Number of pages13
JournalInternational Journal of Control
Volume87
Issue number12
DOIs
StatePublished - 1 Dec 2014
Externally publishedYes

Keywords

  • networked system

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