TY - JOUR
T1 - Controller design for containment problem of a Class of multi-agent systems with nonlinear identical dynamics and fixed directed graph
TT - طراحی کنترلگر برای مسئله مهار یک سیستم چند عامله با دینامیکهای غیرخطی یکسان و گراف ارتباطی جهت دار ثابت
JF - joc-isice
JO - joc-isice
VL - 14
IS - 4
UR - http://joc.kntu.ac.ir/article-1-620-en.html
Y1 - 2021
SP - 133
EP - 141
KW - Multi-Agent Systems
KW - Containment
KW - Leader
KW - Follower
N2 - 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.
M3 10.52547/joc.14.4.133
ER -