Abstract

For the cluster movement problem of multi-agent systems, this paper studies containment control of second-order multi-agent systems with mismatched disturbances. State observers and disturbance observers are designed to estimate the unknown states and disturbances of the systems, and a control protocol based on the active anti-disturbance observers is constructed. By applying matrix theory and modern control theory, the dynamic characteristics of second-order multi-agent systems based on disturbance observers are studied. In numerical simulations, the observers based containment control algorithm is applied to make the motion states of the systems eventually converge to the target area formed by multiple leaders, which verifies the validity of the conclusions in this paper.

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