Reachable Set Control of Nonlinear Singular Multi-Agent Systems Realized by State Decomposition Method

This study centers on the consensus problem of singular multi-agent systems featuring nonlinear dynamics, and concurrently derives a more relaxed reachable set estimation (RSE) criterion with a reduced number of decision variables. The characteristics of the Laplacian matrix are utilized for reducing the singular multiagent system (SMAS), by constructing the Lyapunov function and using singular value decomposition and cross-convex matrix techniques. By employing linear matrix inequalities, sufficient conditions are established for enclosing the reachable set of the singular multi-agent system within a compact ellipsoid. The efficacy of our presented findings is validated through illustrative examples.