H∞ Output Containment Control of Heterogeneous Continuous-Time Multi-Agent Systems
Date of Original Version
This paper addresses the problem of output containment control of heterogeneous multi-agent systems (MASs), which aims to drive the outputs of all followers to a dynamic convex hull spanned by the outputs of multiple leaders. The considered MAS consists of heterogeneous linear agent dynamics with possibly non-identical state dimensions and subject to unknown external disturbances. A new distributed control protocol via dynamic output feedback is proposed, such that the output containment control problem can be decomposed into independent H∞ stabilization subproblems for the follower agents. The resulting distributed control synthesis conditions are formulated as linear matrix equations plus linear matrix inequalities, which can be solved efficiently via convex optimization. A numerical example has been used to demonstrate the effectiveness of the proposed approach.
Proceedings of the American Control Conference
Yuan, Chengzhi, Shahab Ilbeigi, Wei Zeng, and Tianrui Chen. "H∞ Output Containment Control of Heterogeneous Continuous-Time Multi-Agent Systems." Proceedings of the American Control Conference 2018-June, (2018): 3654-3659. doi:10.23919/ACC.2018.8431088.