Robust containment control in a leader–follower network of uncertain Euler–Lagrange systems

Justin R. Klotz*, Teng-Hu Cheng, Warren E. Dixon

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

24 Scopus citations

Abstract

A distributed controller is developed that yields cooperative containment control of a network of autonomous dynamical systems. The networked agents are modeled with uncertain nonlinear Euler–Lagrange dynamics affected by an unknown time-varying exogenous disturbance. The developed continuous controller is robust to input disturbances and uncertain dynamics such that asymptotic convergence of the follower agents' states to the dynamic convex hull formed by the leaders' time-varying states is achieved. Simulation results are provided to demonstrate the effectiveness of the developed controller.

Original languageEnglish
Pages (from-to)3791-3805
Number of pages15
JournalInternational Journal of Robust and Nonlinear Control
Volume26
Issue number17
DOIs
StatePublished - 25 Nov 2016

Keywords

  • containment control
  • distributed control
  • nonlinear control
  • robust control

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