Sampled-data output-feedback containment control for feedforward nonlinear multi-agent systems with packet losses
Yiyu Feng, Debao Fan, Xianfu Zhang, Qingrong Liu · International Journal of Systems Science · 2025
This paper investigates sampled-data output-feedback containment control for feedforward nonlinear multi-agent systems. In particular, the considered systems suffer from packet losses. For systems featuring multiple leaders, we cleverly employ time-varying gain and coordinate transformation technique to design a distributed containment control protocol. Meanwhile, to delineate the phenomenon of packet losses, a switching system comprising both stable and unstable subsystems is utilised to characterise deterministic packet losses. From this foundation, we derive the constraints on packet loss frequency and maximum packet loss duration necessary for achieving containment control, thereby ensuring that all followers converge to the convex hull formed by the leaders. Additionally, we further extend the obtained results to strict-feedback nonlinear multi-agent systems. Ultimately, the validity of proposed control strategy is confirmed through a simulation example.