| Title: | OS14-4 H Containment Control for Nonlinear Multi-agent Systems with Parameter Uncertainties and Communication Delays |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 13-16 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS14-4 |
| Author(s): | Ping Wang, Yingmin Jia |
| Publication Date: | January 19, 2017 |
| Keywords: | multi-agent systems, containment control, robust H control, inherent nonlinear dynamics |
| Abstract: | This paper considers robust containment control problem for uncertain multi-agent systems with inherent nonlinear dynamics. A distributed protocol is proposed using local delayed state information, and then the original problem is converted into an H control problem by defining an appropriate controlled output function. Based on robust H theory, sufficient conditions in terms of linear matrix inequalities (LMIs) are derived to ensure the H containment. A numerical example is provided to demonstrate the effectiveness of our theoretical results. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS14/OS14-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.