Distributed adaptive observer-based output formation-containment control for heterogeneous multi-agent systems with unknown inputs

Ya Zhang, Yaoyao Wen, Guoxi Chen, Yang-Yang Chen
2020 IET Control Theory & Applications  
Here, the authors study the distributed time-varying output formation-containment control of heterogeneous multiagent systems, where multiple targets have heterogeneous dynamics and unknown inputs. A distributed adaptive observerbased output formation-containment controller is proposed. Firstly, consensus-based adaptive finite impulse response filters are established to estimate the unknown inputs and states of the targets. Then, by constructing an augmented system with the centre of the
more » ... ' outputs as its output and using the observers, an output regulation-based formation-containment controller is developed to make agents encircle the targets with certain formation. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.
doi:10.1049/iet-cta.2020.0465 fatcat:3yzye4rbz5egzppv57j4iy6nxa