Cooperative Containment Control for Multiagent Systems With Reduced-Order Protocols
针对连续时间多智能体系统，设计基于邻居可观测凸包状态的观测器，并给出降阶协议实现包含协调，通过Sylvester方程可解性证明协议有效性。
This article addresses the problem of containment control for continuous-time multiagent systems. A containment error is first given to show the coordination between the outputs of leaders and followers. Then, an observer is designed based on the neighbor observable convex hull state. Under the assumption that the designed reduced-order observer is subject to external disturbances, a reduced-order protocol is designed to realize the containment coordination. In order to ensure the designed control protocol can achieve the effect of the main theories, a corresponding Sylvester equation is given with a novel approach which proves that the Sylvester equation is solvable. Finally, a numerical example is given to verify the validity of the main results.