Abstract
This paper investigates the containment control problem for multi-agent systems with nonlinear dynamics under directed graph. Leaders' control inputs are unknown to any of the follower. A distributed adaptive protocol with a finite time unknown input observer is proposed to ensure that the states of the followers asymptotically converge to a convex hull spanned by the dynamic leaders. Compared with some existing results in the literature, the observer and protocol only depend on relative output information, and hence is fully distributed. A simulation example is provided to illustrate the theoretical results.
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