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

Abstract

Summary 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. Copyright © 2016 John Wiley & Sons, Ltd.

Distributed model‐independent consensus of Euler–Lagrange agents on directed networks

“…As observed by the authors in recent preliminary investigations, simple model‐independent controllers of the form in (), and in , have an advantage in the sense that they are easier to study in the event‐based framework. This is in contrast to the complex model‐independent controllers in .…”

“…Using global knowledge to design control gains for coordination of Euler–Lagrange networks is also reported in, for example, , and for coordination of directed networks where agents have general nonlinear dynamics described by Lipschitz continuous functions . Semi‐global results in consensus literature include , and can arise when the agent dynamics are modelled by nonlinear functions which are not globally Lipschitz (Assumption A4 indicates that typical Euler–Lagrange systems do not satisfy this global Lipschitz condition).…”

Distributed finite‐time containment control for multiple Euler‐Lagrange systems with communication delays

“…The containment errors could converge to a neighborhood of the origin by the proposed algorithm. It should be noted that the aforementioned results in the works of Yang et al, Mei et al, Klotz et al, Mei et al, and Yoo could only guarantee the asymptotic convergence, which, however, cannot satisfy the request for the convergence rate in some situations. Thus, the methods to speed up the convergence are of great value.…”

Robust containment of uncertain linear multi‐agent systems under adaptive protocols

“…In , finite‐time containment of multiple Euler–Lagrange systems was investigated by using tools from homogeneity theory. Containment of multiple uncertain Euler–Lagrange systems was further studied in by designing some non‐smooth controllers. In particular, the authors in studied the case with parametric uncertainties while the authors of discussed the case with time‐varying nonlinear exogenous disturbances.…”

“…Containment of multiple uncertain Euler–Lagrange systems was further studied in by designing some non‐smooth controllers. In particular, the authors in studied the case with parametric uncertainties while the authors of discussed the case with time‐varying nonlinear exogenous disturbances. Most of aforementioned results are concerned about containment of MASs with integrators‐type agent dynamics or nonlinear node dynamics described by second‐order Euler–Lagrange systems.…”