Paper Info
Title
Distributed containment control for uncertain nonlinear multi-agent systems in non-affine pure-feedback form under switching topologies
Abstract
This paper considers the containment control problem of uncertain nonlinear multi-agent systems with multiple dynamic leaders under switching directed topologies. The followers are governed by a class of non-affine pure-feedback systems with arbitrary uncertainty. Implicit function and mean value theorems are employed to overcome the difficulty in controlling the non-affine pure-feedback systems and fuzzy logic systems are utilized to approximate the unknown nonlinear functions. Distributed adaptive containment controllers are proposed to guarantee that the outputs of all followers converge to the convex hull spanned by the multiple dynamic leaders. In addition, by incorporating the distributed dynamic surface control (DSC) technique, the developed containment controllers are able to eliminate the problem of "explosion of complexity" inherent in backstepping design. Based on Lyapunov stability theory, it is proved that all signals in the closed-loop systems are cooperatively semiglobally uniformly ultimately bounded (CSUUB), and the containment errors converge to a small neighborhood of the origin. An example is provided to show the effectiveness of the control approach.
Year
DOI
Venue
2015
10.1016/j.neucom.2014.11.035
Neurocomputing
Keywords
Field
DocType
Containment control,Nonlinear multi-agent systems,Switching topology,Pure-feedback system,Dynamic surface control
Affine transformation,Mathematical optimization,Backstepping,Nonlinear system,Control theory,Lyapunov stability,Convex hull,Implicit function,Multi-agent system,Mathematics,Bounded function
Journal
Volume
Issue
ISSN
152
C
0925-2312
Citations 
PageRank 
References 
25
0.71
40
Authors
3
Name
Order
Citations
PageRank
Wei Wang123441.10
Dan Wang271438.64
Zhouhua Peng364536.02