Journal
AUTOMATICA
Volume 49, Issue 7, Pages 2145-2153Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.03.007
Keywords
Containment control; Networked nonlinear systems; Strict-feedback; Function approximation technique; Directed graph
Funding
- Basic Science Research Program through the National Research Foundation of Korea (NRF)
- Ministry of Education, Science and Technology [2012001440]
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This paper presents a distributed containment control approach for uncertain nonlinear strict-feedback systems with multiple dynamic leaders under a directed graph topology where the leaders are neighbors of only a subset of the followers. The strict-feedback followers with nonparametric uncertainties are considered and the local adaptive dynamic surface controller for each follower is designed using only neighbors' information to guarantee that all followers converge to the dynamic convex hull spanned by the dynamic leaders where the derivatives of leader signals are not available to implement controllers, i.e., the position information of leaders is only required. The function approximation technique using neural networks is employed to estimate nonlinear uncertainty terms derived from the controller design procedure for the followers. It is shown that the containment control errors converge to an adjustable neighborhood of the origin. (C) 2013 Elsevier Ltd. All rights reserved.
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