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

Ahmad Dahari, Maisarah (2022) Containment control based on state-feedback for multi-agents system with non-linearity element. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

"Multi-agents system" is a term used to describe a group of agents connected to achieve specified control tasks over a communication network. These agents are required to reach an agreement upon certain conditions proposed to reach "containment". This study investigates the containment control problem of the leader-follower configuration in a multi-agents system with a type of non-linearity such as input time delay with respect to a continuous-time and directed spanning forest communication network topology. Control theory and the Laplacian network topology are applied to construct and propose a state feedback containment controller that employs the relative information of each agent. The design controller and containment problem has been achieved in this project where the system is designed with 4 different network topology; Directed, undirected, directed with strongly connected agents and not strongly connected agents. All agents successfully achieved containment through out the system despite the time delay inserted. The stability analysis is done based on Lyapunov stability theory. The goals for this project has been met as all agents able to reach containment and have a stable system. The simulation results of the proposed controllers were shown to prove their theoretical validity. Adding more non-linearities and leaders in one system and applying the current system into a real life project is recommended for future work to improve the system and so that the stability of the system can be proven better.

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