Distributed containment control with predefined performance of high-order multi-agent systems with unknown heterogeneous non-linearities
- Authors
- Yoo, Sung Jin
- Issue Date
- Jun-2015
- Publisher
- INST ENGINEERING TECHNOLOGY-IET
- Citation
- IET CONTROL THEORY AND APPLICATIONS, v.9, no.10, pp 1571 - 1578
- Pages
- 8
- Journal Title
- IET CONTROL THEORY AND APPLICATIONS
- Volume
- 9
- Number
- 10
- Start Page
- 1571
- End Page
- 1578
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/9436
- DOI
- 10.1049/iet-cta.2014.0509
- ISSN
- 1751-8644
1751-8652
- Abstract
- This study presents a predefined performance design approach for the distributed containment control of heterogeneous non-linear strict-feedback systems with multiple dynamic leaders under a directed graph topology where the leaders are neighbours of only a subset of the followers. It is assumed that all followers' non-linearities unmatched in the control input are unknown. The performance bounds, which characterise the convergence rate and maximum overshoot of control errors, are incorporated into the control error vectors, in order to ensure the predefined transient and steady-state performance of containment control errors. On the basis of these error vectors, the authors design a simple distributed containment control system without employing any function approximators to estimate unknown non-linearities and calculating the repeated derivatives of virtual controllers. It is shown from Lyapunov stability theorem that all followers nearly converge to the dynamic convex hull spanned by the dynamic leaders and the containment control errors are preserved within certain given predefined bounds.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of ICT Engineering > School of Electrical and Electronics Engineering > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/9436)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.