Distributed observer-based containment control for unknown time-varying P-normal nonlinear multiagent systems

Liuliu Zhang, Songsong Liu, Changchun Hua, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

Abstract

This work investigates the containment control for unknown time-varying p-normal (TVP) nonlinear multiagent systems (MASs) under directed topology. First, by innovatively constructing the dynamic update law in the distributed observer design process, the corresponding virtual leader trajectory can be accurately estimated at an exponential rate. Subsequently, the containment problem of MASs is transformed into a tracking problem through appropriate state transformation. Then, based on backstepping and power integrator techniques, a recursive algorithm is proposed to construct the adaptive controller to guarantee that the followers are driven into the convex hull consisting of dynamic leaders and the closed-loop system is stable. Finally, the effectiveness of the containment control scheme is verified through a numerical simulation and a practical example of single-link manipulators.

Original languageEnglish
Pages (from-to)6895-6913
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Volume34
Issue number10
DOIs
Publication statusPublished - 2024 Jul 10

Bibliographical note

Publisher Copyright:
© 2024 The Authors. International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd.

Keywords

  • containment control
  • distributed observer
  • unknown time-varying p-normal

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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