Abstract
This paper investigates robust formation-containment control of discrete-time multiagent systems (MASs) with exogenous disturbances. Based on the discrete-time disturbance observer method, both state feedback and output feedback control protocols are proposed. Formation-containment conditions are obtained and convergency analysis is given according to Lyapunov stability theory. And, the corresponding control gains are obtained by solving some discrete-time algebraic Riccati equations. Numerical simulations are presented to illustrate the theoretical findings.
Highlights
The distributed cooperative control of the multiagent systems (MASs) has drawn much attention from various disciplines
Containment means that there exist multiple leaders in a network, and all followers can asymptotically enter into the convex hull spanned by the leaders
Containment was investigated for discrete-time linear MASs with input saturation and intermittent communication [17]
Summary
The distributed cooperative control of the MASs has drawn much attention from various disciplines. Han et al [18] addressed formation-containment control of second-order dynamics MASs with time-varying. In [20], formation-containment control of continuous-time nonlinear Euler–Lagrange MASs with input saturation was studied. Zuo et al [21] proposed the distributed static and dynamic output feedback control protocols for homogeneous and Complexity heterogeneous MASs with time-varying. The above papers mainly investigated formation-containment control problem for continuous-time MASs without disturbances. In [26], identical and nonidentical external disturbances were investigated for the leader-following output consensus of discrete-time linear MASs with input saturation. Inspired by the above literatures, this paper concentrates on the formation-containment control of high-order discrete-time MASs with exogenous disturbances. AT (or xT) represents the transpose of the matrix A (or the vector x). ‖ ∗ ‖ represents the Euclid norm of ∗ . ⊗ denotes the Kronecker product
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