Distributed Finite-Time Containment Control for Nonlinear Multiagent Systems With Mismatched Disturbances
针对存在非匹配扰动和执行器故障的不确定非线性多智能体系统，提出了一种分布式有限时间自适应包含控制方案，通过改进动态面控制和加幂积分技术降低计算复杂度，并利用扰动观测器处理非匹配不确定性。
This article proposes a finite-time adaptive containment control scheme for a class of uncertain nonlinear multiagent systems subject to mismatched disturbances and actuator failures. The dynamic surface control technique and adding a power integrator technique are modified to develop the distributed finite-time adaptive containment algorithm, which shows lower computational complexity. In order to overcome the difficulty from the mismatched uncertainties, the disturbance observers are constructed based on the backstepping technique. Moreover, the uncertain actuator faults, including loss of effectiveness model and lock-in-place model, are considered and compensated by the proposed adaptive control scheme in this article. According to the Lyapunov stability theory, it is demonstrated that the containment errors are practically finite-time stable in the presence of actuator faults. Finally, a simulation example is conducted to show the effectiveness of the proposed theoretical results.