Containment control for networked Lagrangian systems under a directed graph and communication constraints

Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


In this paper, we study the containment control problem of networked uncertain Lagrangian systems with intermittent communication in the presence of communication delays and possible information loss. Specifically, we present an adaptive distributed control algorithm such that a team of followers asymptotically converge to the convex hull spanned by multiple non-stationary leaders. The interconnection between the systems is represented by a directed graph. Sufficient conditions are presented such that the control objective is reached while communication between agents is allowed only at some discrete instants of time in the presence of irregular communication delays and packet dropout. Simulation results are given to show the effectiveness of the proposed control scheme.

Original languageEnglish (US)
Article number7039841
Pages (from-to)2938-2943
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Issue numberFebruary
StatePublished - 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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