Adaptive multi-agent containment control with multiple parametric uncertain leaders

作者：Wang Xinghu^*; Hong Yiguang; Ji Haibo

来源：Automatica, 2014, 50(9): 2366-2372.

DOI：10.1016/j.automatica.2014.07.019

• Multi-agent systems
• Multiple leaders
• Containment
• Uncertain parameter
• Adaptive internal model

In this paper, an adaptive containment control is considered for a class of multi-agent systems with multiple leaders containing parametric uncertainties. The agents are heterogeneous though their dynamics have the same relative degree and are minimum phase, while the interconnection topology is described by a general directed graph. A distributed containment control is proposed for the agents to enter the moving convex set spanned by the leaders, based on an adaptive internal model and a recursive stabilization control law.

• 出版日期2014-9
• 单位中国科学技术大学; 中国科学院