In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.
This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in systemdynamics and possible switching topology.By introducing a novel adaptive control architecture,decentralized controllers are developed,which allow for parametric uncertainties.Based upon graph theory,Lyapunov theory and switching control theory,the stability of the proposed algorithms are demonstrated.A distinctive feature of this work is to address the coordination control of EL systems with unknown parameters and switching topology in a unified theoretical framework.It is shown that both static and dynamic coordinations can be reached even when the communication is switching.Simulation results are provided to demonstrate the effectiveness of the obtained results.
MIN Hai-BoLIU Zhi-GuoLIU YuanWANG Shi-ChengYANG Yan-Li
