Fully distributed containment of multiple‐input‐multiple‐output linear multi‐agent systems with multiple nonautonomous leaders

Abstract

SummaryIn this article, we study the fully distributed containment problem for multiple‐input‐multiple‐output linear multi‐agent systems (MASs) with multiple nonautonomous leaders (i.e., leaders with nonzero inputs). First, based on an unknown input observer (UIO) with full order and by using unit vector method, we design an adaptive discontinuous controller, where the adaptive law is used to adjust network coupling strengths. And by using Barbǎlat lemma, we show that fully distributed containment can be achieved if the graph is connected and the subgraph among multiple followers is detail balanced. Second, we study fully distributed containment for MASs under an adaptive discontinuous controller based on a UIO with reduced order. Moreover, we study the case with directed switching topology. Finally, we perform simulations on a team of aircrafts to validate the theoretical results.