%0 Journal Article
%A jodaei, Arash
%A Saffar Ardabili, Jamal
%T Controller design for containment problem of a Class of multi-agent systems with nonlinear identical dynamics and fixed directed graph
%J Journal of Control
%V 14
%N 4
%U http://joc.kntu.ac.ir/article-1-620-en.html
%R 10.52547/joc.14.4.133
%D 2021
%K Multi-Agent Systems, Containment, Leader, Follower,
%X This paper, studies the controller design for containment problem for a class of multi-agent systems with identical time-invariant continuous-time nonlinear dynamics and fixed directed communication graph. In this problem, the Lyapunov stability theorem, the graph theory and matrix linear inequality are used. The agents are divided into two groups of leaders and followers. In containment problem, all the followers are controlled under which will asymptotically converge to the convex hull spanned by the leaders so distributed communication protocol with fixed time delay is considered and four-step algorithm is proposed for obtaining parameters and gain matrix. The above case is proved to be sufficient condition under theorem. To illustrate the reliability and efficiency of the proposed method, numerical example with simulations are presented.
%> http://joc.kntu.ac.ir/article-1-620-en.pdf
%P 133-141
%& 133
%!
%9 Research paper
%L A-10-933-1
%+ Payame Noor University
%G eng
%@ 2008-8345
%[ 2021