Fuzzy distributed containment tracking of heterogeneous multi-robots with uncertain granular fuzzy linear dynamics

In this paper, we examine the problem of containment control for linear heterogeneous multi-agent systems with fuzzy uncertainty. Fuzzy uncertainty is considered as granular fuzzy numbers in the parameters of the agents. The design of the controller for each follower is based on the state feedback control approach and the output regulation framework. We also introduce a compensating dynamic for each follower. The leaders are considered as exosystems with fuzzy uncertainty. We use a new formulation for the containment error that guarantees that the followers converge to the fuzzy convex hull spanned by the leaders. Finally, we give a numerical example to show validity of the obtained theoretical results.