Distributed Adaptive Finite-Time Containment Algorithm for Inherent Nonlinear Multiagent System
针对一类具有未知上界外部扰动的非线性多智能体系统，提出分布式自适应有限时间包含控制算法，使跟随者状态在有限时间内收敛到领导者构成的凸包中。
In this article, we consider distributed adaptive finite-time containment control for a class of nonlinear multiagent system with external perturbation which is unknown upper bound under directed graph. Multiagent systems is nonlinear dynamics system of which inherent nonlinearities are designed as higher- and lower-order. First of all, by using information of neighbor, it is possible to construct a second-order finite-time estimator to estimate weighted average of positions and velocities of leaders. Then, a distributed adaptive finite-time containment controller is proposed to make states of followers can converge to convex hull spanned by leaders in finite time. Finally, effectiveness of proposed control algorithm is demonstrated by numerical simulation.