Adaptive Distributed Observer Approach for Cooperative Containment Control of Nonidentical Networks
针对存在外部干扰的非相同网络，提出一种自适应分布式观测器方法，使所有跟随者的输出收敛到领导者参考输出张成的凸包内，并用动态输出反馈抑制干扰。
This paper addresses the containment control problem of nonidentical networks with external disturbance via adaptive distributed observer method. We first present a formulation for containment error, which ensures all the followers' outputs converge to the convex hull spanned by the leaders' reference outputs. Then by using an adaptive distributed observer, the leaders' system matrices and the states of convex hull are both estimated. Furthermore, a novel global regulate equation is designed to restrain the external disturbance, and the problem of containment control for multiagent systems is solved by a dynamic output feedback approach. Finally, some simulation results are given to illustrate the validity of the theoretical results.