Observer-Based Adaptive Containment Control for Multi-Agent Systems with Nonlinear Dynamics under Directed Graphs

This paper investigates the containment control problem for multi-agent systems with nonlinear dynamics under directed graph. Leaders' control inputs are unknown to any of the follower. A distributed adaptive protocol with a finite time unknown input observer is proposed to ensure that the states of the followers asymptotically converge to a convex hull spanned by the dynamic leaders. Compared with some existing results in the literature, the observer and protocol only depend on relative output information, and hence is fully distributed. A simulation example is provided to illustrate the theoretical results.CPCI-S(ISTP)wangqi2013@pku.edu.cn; fujunjie@pku.edu.cn; jinzhiw@pku.edu.cn360-36