Adaptive Resilient Containment Control for Heterogeneous MASs Against Unknown Distinct Leaders and Actuator Faults
Zhipeng Wang, Hao Wu, Shicheng Huo, Ya Zhang · International Journal of Robust and Nonlinear Control · 2025
ABSTRACT The adaptive resilient containment control problem of the fully heterogeneous multi‐agent systems with unknown leaders and actuator faults is investigated in this paper. The available data is utilized to identify the system matrices of the unknown leaders. Subsequently, for each follower, an adaptive distributed observer is proposed to estimate the states and the system matrices of all leaders. Based on the estimated system matrices of the leaders, the adaptive solutions of the output regulation equations are given. In light of the adaptive solution and the state of the observer, an adaptive resilient containment control protocol is designed to eliminate the adverse effects caused by actuator faults. It is proved by mathematical derivation that the output containment error of each follower exponentially converges to zero, that is, the outputs of all followers converge to the predefined convex hull formed by the distinct leaders. The simulation results demonstrate the accuracy and effectiveness of the proposed control methods.