Disturbance Observer‐Based Robust Formation‐Containment of Discrete‐Time Multiagent Systems with Exogenous Disturbances
Chengjie Xu, Bofan Li, Yi Yuan · Complexity · 2021
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.