Robust containment control in a leader–follower network of uncertain Euler–Lagrange systems
نویسندگان
چکیده
A distributed controller is developed that yields cooperative containment control of a network of autonomous dynamical systems. The networked agents are modeled with uncertain nonlinear Euler–Lagrange dynamics affected by an unknown time-varying exogenous disturbance. The developed continuous controller is robust to input disturbances and uncertain dynamics such that asymptotic convergence of the follower agents’ states to the dynamic convex hull formed by the leaders’ time-varying states is achieved. Simulation results are provided to demonstrate the effectiveness of the developed controller. Copyright © 2016 John Wiley & Sons, Ltd.
منابع مشابه
Development of a Model for Locating Hubs in a Competitive Environment under Uncertainty: A Robust Optimization Approach
This article explores the development of previous models to determine hubs in a competitive environment. In this paper, by comparing parameters of the ticket price, travel time and the service quality of hub airports, airline hubs are divided into six categories. The degree of importance of travel time and travel cost are determined by a multivariate Lagrange interpolation method, which can pla...
متن کاملCoordinated Control of a Tractor-Trailer and a Combine Harvester by Neural Adaptive Robust Control
In this paper, the coordinated control problem of a tractor-trailer and a combine harvester is taken into account in the presence of model uncertainties by using the leader-following approach to track a reference trajectory for the first time. At first, a second-order leader-follower dynamic model is developed in Euler-Lagrange form which preserves all structural properties of the dynamic model...
متن کاملEvent-Triggered Algorithms for Leader-Follower Consensus of Networked Euler-Lagrange Agents
This paper proposes three different distributedevent-triggered control algorithms to achieve leader-followerconsensus for a network of Euler-Lagrange agents. We firstlypropose two model-independent algorithms for a subclass ofEuler-Lagrange agents without the vector of gravitational po-tential forces. By model-independent, we mean that each agentcan execute its algorithm...
متن کاملAdaptive H∞ consensus control of euler-lagrange systems on directed network graph by utilizing neural network approximators
A design method of adaptive consensus control of multi-agent systems composed of fully actuated mobile robots which are described as a class of Euler-Lagrange systems on directed network graphs, is presented in this paper based on the notion of inverse optimal H∞ control criterion. The proposed control scheme is deduced as a solution of certain H∞ control problem, where estimation errors of tun...
متن کاملA decentralized multi-level leader-follower game for network design of a competitive supply chain
This paper develops a decentralized leader-follower game for network design of a competitive supply chain problem in which a new chain as the leader enters a market with one existing supply chain as a follower. Both chains produce an identical product, customer demand is inelastic and customer utility function is based on Huff gravity-based model. The leader wants to shape his network and set a...
متن کامل