Non-fragile containment control of nonlinear multi-agent systems via a
disturbance observer-based approach
In this paper, we consider the non-fragile containment control problem
of nonlinear multi-agent systems (MASs) with exogenous disturbance where
the communication links among agents under consideration is directed.
Firstly, based on relative output measurements between the agent and its
neighbors, a disturbance observer-based control protocol is proposed to
solve the containment control problem of MASs with inherent nonlinear
dynamics and exogenous disturbances. Secondly, because of the additional
tuning of parameters in the real control systems, uncertainties in the
designing of observer and controller gains always occur, and as a
result, an output feedback controller with disturbance rejection is
conceived and the containment control problem of nonlinear MASs with
non-fragility is thoroughly investigated. Then, depending on matrix
transformation and inequality technique, sufficient conditions of the
designed controller gains exist, which is derived from the asymptotic
stability analysis problem of some containment error dynamics of MASs.
Finally, two simulation examples are exploited to illustrate the
effectiveness of the proposed techniques.