Robust containment control of heterogeneous multi‐agent systems with structured uncertainty and external disturbances
Hajar Atrianfar, Abolghasem Karimi · International Journal of Robust and Nonlinear Control · 2021
Abstract This article considers the robust containment control problem of heterogeneous linear multi‐agent systems subject to structured uncertainties and external disturbances. By introducing a new neighborhood error of follower agents, the containment control problem can be formulated into output regulation problem. By employing a distributed compensator and robust control approach, sufficient conditions in terms of linear matrix inequalities are derived to ensure that all followers asymptotically converge to the convex hull spanned by the leaders with the prescribed performance under fixed topology. A numerical example is provided to verify the effectiveness of the proposed method.