Robust containment control for a class of heterogeneous uncertain nonlinear multi-agent systems
Yawei Zhang, Haibo Ji · 2016
This paper addresses the robust containment control problem for a class of heterogeneous uncertain nonlinear multi-agent systems. The dynamics of the leaders are totally different from those of the followers. Based on the distributed internal model, the robust containment control problem is first converted into the stabilization problem for an augmented network. A distributed output feedback control is then proposed to solve the stabilization problem of the subsequent augmented network. Under the proposed control, all the followers' outputs will converge to the convex hull spanned by the leaders.