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Cooperative Containment Formation for Discrete-time Heterogeneous Networks by Double Compensators

Yu Zhou, Ping Li*, Tiaoyang Cai, and Hongjing Liang
International Journal of Control, Automation, and Systems, vol. 18, no. 2, pp.313-321, 2020

Abstract : In this paper, two practical distributed observers are constructed to solve the cooperative robust containment formation problem for discrete-time linear multi-agent systems. The dynamics of the systems contain uncertain parts. A containment error is presented to guarantee all the outputs of followers converge to the convex hull spanned by the outputs of the leaders. There are two compensators in this paper, we first present a distributed compensator to estimate the information of convex hull, and use an internal compensator to solve the problem of uncertain parts in dynamics. Further more, based on the both compensators, a distributed dynamic output feedback controller is designed to solve the containment control problem for the discrete-time multi-agent systems. Finally, a numerical example is given to verify the effectiveness of the main results.

Keyword : Containment control, convex hull, cooperative control, discrete time.

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