Non-Fragile Disturbance Observer-Based Containment Control of Multi-Agent Systems Over Switching Topologies

Abstract

In this paper, the non-fragile containment control problem for linear multi-agent systems (MASs) with exogenous disturbance is investigated. The communication links among agents are constructed by a set of arbitrarily fast switching and directed topologies. First, there always exist uncertainties in the controller and observer gain matrices, a new class of distributed non-fragile disturbance observer-based controller is proposed to address such a problem with disturbance rejection under switching topologies. By making use of matrix transformation and Lyapunov theory, the containment control problem of MASs is converted into the asymptotic stability analysis problem of some containment error dynamics. Second, the corresponding non-fragile containment control problem of inherent nonlinear case with exogenous disturbance under switching topologies is further studied. Finally, two simulation examples are given to investigate the effectiveness of the proposed control strategy.