Observer-based semi-global containment of saturated multi-agent systems with uncertainties |
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| Institution: | 1. College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, and Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot), Nanjing 210023, PR China;2. School of Artificial Intelligence and Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan 430074, PR China |
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| Abstract: | In this article, the robust semi-global containment control for multi-agent systems affected by uncertainties, such as input additive disturbance, input saturation and dead zone is addressed. An observer-based control algorithm is designed by combining the high-gain observer approach and the low-and-high gain feedback technique. Under the assumption that all agents are asymptotically null controllable with bounded controls and each follower can access the information of at least one leader through a directed path, sufficient conditions for the semi-global output feedback containment control are provided. Finally, numerical simulations are proposed to verify the main theoretical results. |
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