Asymptotic containment control of uncertain multi-agent systems with partially unknown non-identical control directions |
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| Institution: | 1. School of Automation, Chongqing University, Chongqing 400044, China;2. State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing University, Chongqing 400044, China;1. Institute for Interdisciplinary Information Sciences, Tsinghua University, 100084, Beijing, China;2. School of Science and Engineering, The Chinese University of Hong Kong (Shenzhen), Shenzhen, 518172, Guangdong, China;1. College of Artificial Intelligence, Nankai University, Tianjin 300650, China;2. Tianjin Key Laboratory of Brain Science and Intelligent Rehabilitation, Nankai University, Tianjin 300650, China;1. AnHui Province Key Laboratory of Special Heavy Load Robot and School of Electrical and Information Engineering, Anhui University of Technology, Ma’anshan 243002, China;2. College of Intelligent Science and Control Engineering, Jinling Institute of Technology, Nanjing, Jiangshu 211169, China;1. School of Computer Science and Engineering, Hunan University of Science and Technology, China;2. Department of Sports Medicine and Joint Surgery, Nanjing First Hospital, Nanjing Medical University, China;3. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;4. College of Telecommunications and Information Engineering, Nanjing University of Posts and Telecommunications, China;1. Shaanxi Key Laboratory of Space Solar Power Station System, School of Mechano-electronic Engineering, Xidian University, Xi’an 710071, China;2. School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China |
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| Abstract: | This paper investigates the precise containment control problem for nonlinear multi-agent systems (MAS) subject to non-vanishing uncertainties and unknown non-identical control directions under directed communication topology. Due to the existence of the inherent non-vanishing/non-parametric uncertainties and unknown control directions, the precise (zero-error) containment control synthesis becomes nontrivial. The underlying problem becomes even complicated if the convergence rate is required to be pre-specified. This work aims at circumventing the aforementioned difficulties to derive a precise containment control solution. The salient features behind the derived algorithms are: i) the non-vanishing uncertainties are completely rejected; ii) the containment error is regulated to zero at prescribed convergence rate, in spite of the non-vanishing uncertainties and unknown non-identical control directions; and iii) the full-state containment rather than output containment is achieved. A simulation example is given to confirm the effectiveness of the proposed method. |
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