Robust semi-global containment control of identical linear systems with imperfect actuators
Liangren Shi, Zhiyun Zhao, Zongli Lin · 2017
This paper investigates the robust semi-global containment control problem for a group of linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and their input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed. It is shown that robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.