Containment control based on output-feedback for multi-agents system with non-linearity element

Baharuddin, Khairun Nisa (2022) Containment control based on output-feedback for multi-agents system with non-linearity element. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This research takes into consideration the containment control problem based on the output feedback for the multi-agents system with non-linearity elements for the continuous time period and numerous different forms of spanning tree forest communication topology. When a multi-agent system is contained by a moving leader, each agent’s potential to reach a containment outcome is the main problem. In order to keep the system stable, the containment control leader must have control over the follower’s blockade. Since the non-linearity elements were added into the model, we built the containment controller for non-linearity elements system to analyze the stability of a system with and without these non-linearity elements. Using MATLAB, verify the system’s performance in a simulation. The Hurwitz stabilization must be applied in order to verify that the system has reached a stable state. It is essential to demonstrate, through stabilisation, that the controller system is capable of containing the follower and that the system itself is stable. Stabilizing the system may be achieved using the methodology. Following that, the network structure will be analysed depending on the structure of the network. System stability could be verified using simulation data as an example given. The goals of this research have been met with great success, as the finalresult is stable and able to reach containment. Some recommendations to improve the system include adding more non-linearity components and leaders, introducing new controllers, apply switching leaders and others.

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