Distributed Containment Control for a Class of Uncertain Nonlinear Multi-Agent Systems With Unknown Control Direction

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• 英文论文题名：Distributed Containment Control for a Class of Uncertain Nonlinear Multi-Agent Systems With Unknown Control Direction
• 论文作者：Hui Cheng ; Yi Dong
• 英文论文作者：Hui Cheng ; Yi Dong ; Department of Automation ; Nanjing University of Science and Technology
• 年：2017
• 作者机构：Department of Automation,Nanjing University of Science and Technology;
• 英文论文关键词：Multi-agent systems ; containment control ; unknown control direction ; output regulation problem
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：TP13
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：280k
• 原文格式：D
• 会议级别：全国

摘要

This paper considers distributed coordinated control for multi-agent systems composed of multiple heterogeneous leaders and a class of uncertain nonlinear systems with external disturbances. What makes our problem more interesting and challenging is that the control direction of each nonlinear subsystem is unknown. Inspired by output regulation theory, based on the distributed internal model technique, a distributed control strategy is proposed to drive a group of heterogeneous agents with general nonlinear dynamics to converge to the convex hull spanned by multiple heterogeneous leader systems.
This paper considers distributed coordinated control for multi-agent systems composed of multiple heterogeneous leaders and a class of uncertain nonlinear systems with external disturbances. What makes our problem more interesting and challenging is that the control direction of each nonlinear subsystem is unknown. Inspired by output regulation theory, based on the distributed internal model technique, a distributed control strategy is proposed to drive a group of heterogeneous agents with general nonlinear dynamics to converge to the convex hull spanned by multiple heterogeneous leader systems.

引文

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    1See Appendix in[4]for a summary of digraph.