Open AccessRobust containment control of heterogeneous non‐linear multi‐agent systems via power series approach
Author(s) -
Li Shaobao,
Zhang Jie,
Er MengJoo,
Luo Xiaoyuan,
Yang Zhenyu,
Wang Ning
Publication year - 2019
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.2018.5385
Subject(s) - control theory (sociology) , linear system , linear regulator , regulator , series (stratigraphy) , mathematics , feed forward , lipschitz continuity , computer science , control (management) , control engineering , engineering , mathematical analysis , paleontology , biochemistry , chemistry , artificial intelligence , biology , gene
In this study, the robust containment control problem of general non‐linear multi‐agent systems (MASs) subject to structural uncertainties is studied. The leaders are also described by general non‐linear dynamics satisfying a locally quasi‐Lipschitz condition and a distributed non‐linear observer is designed to estimate the leaders' states for the followers. The solvability of the regulator equations associated with the non‐linear dynamics of agents is normally essential for solving the containment control problem of heterogeneous MASs, but the closed‐form solution of many non‐linear regulator equations may not be obtained. Towards this end, the power series approach is adopted to decompose the regulator equations into a series of solvable linear equations. Based on the solution of the linear equations as the feedforward information, the distributed robust containment control scheme based on state feedback and output feedback control is proposed. The p ‐copy internal model is employed to compensate the parameter uncertainties of the follower agents. A numerical example is studied to demonstrate the effectiveness and efficiency of the proposed control law.