Containment control of a class of heterogeneous nonlinear multi-agent systems |
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Authors: | Zhenxing Li Haibo Ji |
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Affiliation: | 1. School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong, P.R.?China;2. Department of Automation, University of Science and Technology of China, Hefei, Anhui, P.R.?Chinalizhenxing@lyu.edu.cn;4. Department of Automation, University of Science and Technology of China, Hefei, Anhui, P.R.?China |
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Abstract: | This paper studies the containment control of a class of heterogeneous nonlinear multi-agent systems under general directed graph. Every follower agent is a nonlinear system in the output feedback form with the same relative degree. The authors’ goal is to design a distributed dynamic controller such that the outputs of followers enter the convex hull spanned by the outputs of leaders. To this end, the containment problem is converted into a cooperative output regulation problem, a distributed adaptive recursive procedure and the internal model are employed to design the distributed controller. |
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Keywords: | Multi-agent systems containment control heterogeneous nonlinear |
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