Journal
AUTOMATICA
Volume 48, Issue 4, Pages 653-659Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2012.01.020
Keywords
Multi-agent systems; Cooperative control; Distributed control; Containment control; Lagrangian system
Funding
- National Science Foundation [ECCS-1002393]
- National Natural Science Foundation of China [61174200]
- Ministry of Education of PR China
- China Scholarship Council (CSC)
- Directorate For Engineering [1213295] Funding Source: National Science Foundation
- Div Of Electrical, Commun & Cyber Sys [1213295] Funding Source: National Science Foundation
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In this paper, we study the distributed containment control problem for networked Lagrangian systems with multiple dynamic leaders in the presence of parametric uncertainties under a directed graph that characterizes the interaction among the leaders and the followers. We propose a distributed adaptive control algorithm combined with distributed sliding-mode estimators. A necessary and sufficient condition on the directed graph is presented such that all followers converge to the dynamic convex hull spanned by the dynamic leaders asymptotically. As a byproduct, we show a necessary and sufficient condition on leaderless consensus for networked Lagrangian systems under a directed graph. Numerical simulation results are given to show the effectiveness of the proposed control algorithms. (C) 2012 Elsevier Ltd. All rights reserved.
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