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Robust containment control in a leader–follower network of uncertain Euler–Lagrange systems
Author(s) -
Klotz Justin R.,
Cheng TengHu,
Dixon Warren E.
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3535
Subject(s) - control theory (sociology) , controller (irrigation) , convergence (economics) , convex hull , nonlinear system , computer science , robust control , containment (computer programming) , control (management) , mathematics , regular polygon , artificial intelligence , programming language , physics , geometry , quantum mechanics , agronomy , economics , biology , economic growth
Summary A distributed controller is developed that yields cooperative containment control of a network of autonomous dynamical systems. The networked agents are modeled with uncertain nonlinear Euler–Lagrange dynamics affected by an unknown time‐varying exogenous disturbance. The developed continuous controller is robust to input disturbances and uncertain dynamics such that asymptotic convergence of the follower agents' states to the dynamic convex hull formed by the leaders' time‐varying states is achieved. Simulation results are provided to demonstrate the effectiveness of the developed controller. Copyright © 2016 John Wiley & Sons, Ltd.