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.
|Number of pages||15|
|Journal||International Journal of Robust and Nonlinear Control|
|State||Published - 25 Nov 2016|
- containment control
- distributed control
- nonlinear control
- robust control