Open AccessCooperative robust containment control for general discrete‐time multi‐agent systems with external disturbance
Author(s) -
Liang Hongjing,
Li Hongyi,
Yu Zhandong,
Li Ping,
Wang Wei
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.1475
Subject(s) - convex hull , control theory (sociology) , containment (computer programming) , multi agent system , computer science , disturbance (geology) , control (management) , discrete time and continuous time , regular polygon , information structure , internal model , mathematical optimization , mathematics , paleontology , statistics , artificial intelligence , biology , programming language , linguistics , philosophy , geometry
This study investigates the cooperative containment control problem for heterogeneous discrete‐time linear multi‐agent systems. The structures of the systems are uncertain, and there exists more than one leader in the authors' systems. For these leaders, it is unnecessary to establish links exchanging information between them. Instead, the authors assume that at least one leader has directed paths to all the follower nodes. A distributed discrete‐time compensator is presented to estimate the convex hull information of the leaders. Then, based on the estimation of the convex hull information of the reference outputs, they design a novel distributed internal model compensator to tackle the uncertain parts of the dynamics. Finally, a distributed dynamic output feedback approach is utilised to study the distributed systems with external disturbance under the directed communication topology. A numerical example is provided to illustrate the validity of the theoretical results.