Volume 14, Issue 4 (Journal of Control, V.14, N.4 Winter 2021)
JoC 2021, 14(4): 133-141 |
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jodaei A, Saffar Ardabili J. Controller design for containment problem of a Class of multi-agent systems with nonlinear identical dynamics and fixed directed graph. JoC 2021; 14 (4) :133-141
URL: http://joc.kntu.ac.ir/article-1-620-en.html
URL: http://joc.kntu.ac.ir/article-1-620-en.html
1- Payame Noor University
Abstract: (5797 Views)
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.
Type of Article: Research paper |
Subject:
Special
Received: 2018/09/25 | Accepted: 2019/12/9 | ePublished ahead of print: 2020/10/5 | Published: 2021/02/19
Received: 2018/09/25 | Accepted: 2019/12/9 | ePublished ahead of print: 2020/10/5 | Published: 2021/02/19
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