access icon free Cooperative robust containment control for general discrete-time multi-agent systems with external disturbance

© The Institution of Engineering and Technology
Received 17/12/2016, Accepted 28/04/2017, Revised 06/03/2017, Published 03/05/2017

This study investigates the cooperative containment control problem for heterogeneous discrete-time linear multi-agent systems. The structures of the systems are uncertain, and there exists more than one leader in the authors' systems. For these leaders, it is unnecessary to establish links exchanging information between them. Instead, the authors assume that at least one leader has directed paths to all the follower nodes. A distributed discrete-time compensator is presented to estimate the convex hull information of the leaders. Then, based on the estimation of the convex hull information of the reference outputs, they design a novel distributed internal model compensator to tackle the uncertain parts of the dynamics. Finally, a distributed dynamic output feedback approach is utilised to study the distributed systems with external disturbance under the directed communication topology. A numerical example is provided to illustrate the validity of the theoretical results.

Inspec keywords: robust control; linear systems; directed graphs; compensation; decentralised control; uncertain systems; discrete time systems; distributed control; multi-agent systems; feedback

Other keywords: distributed discrete-time compensator; distributed dynamic output feedback; convex hull information; cooperative robust containment control; directed paths; distributed internal model compensator; general discrete-time multiagent systems; external disturbance; uncertain systems; directed communication topology; heterogeneous discrete-time linear multiagent systems

Subjects: Linear control systems; Stability in control theory; Combinatorial mathematics; Discrete control systems; Multivariable control systems

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