Adaptive Containment Control of Heterogeneous Multi-Agent Systems with Unknown Leaders and Communication Delays
Cong Bi, Xiang Xu · 2023
This paper investigates the containment control problem of heterogeneous linear multi-agent systems with nonuniform bounded distributed communication delays under an assumption that only the neighboring agents of multiple leaders have access to the information on both the system matrices and the states of multiple leaders. Adaptive distributed observers under nonuniform distributed communication delays are proposed to estimate both the system matrices and the states of multiple leaders without the prior knowledge of communication delays. Then a novel distributed output feedback control strategy is proposed based on the adaptive distributed observer. It is shown that under the proposed control strategy, the output of each follower converges to the convex hull spanned by the outputs of the leaders.