Active disturbance rejection-based distributed containment control for stochastic nonlinear multiagent systems

Abstract

ABSTRACT This paper investigates a distributed active disturbance rejection containment control problem for stochastic nonlinear multiagent systems under a directed topology. First, a class of nonlinear extended state observers predicated on the fractional power functions are proposed and extended state estimations are employed to compensate completely unknown stochastic terms and total disturbances in real time. Then the tracking differentiator is adopted to avoid the issue of computational burden caused by the repeated differentiation of virtual controllers. In light of the active disturbance rejection control technique, a distributed containment control scheme is put forward, which effectively deals with the problems of unknown nonlinearities and uncertain dynamics. Moreover, it is proved that containment errors of all followers converge to a small neighbourhood of the origin via the stochastic Lyapunov theory. Finally, the effectiveness of the proposed control method is verified by simulation results.