Distributed Finite-Time Containment Control for Nonlinear Multiagent Systems With Mismatched Disturbances

• Published in: IEEE transactions on cybernetics Vol. 52; no. 7; pp. 1 - 10
• Main Authors: Xiao, Wenbin, Ren, Hongru, Zhou, Qi, Li, Hongyi, Lu, Renquan
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.07.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator failures; Actuators; Adaptive algorithms; adaptive containment control; Adaptive control; adding a power integrator; Computational complexity; Containment; disturbance observer; Disturbance observers; Heuristic algorithms; Multi-agent systems; Multiagent systems; Nonlinear control; nonlinear multiagent systems (MASs); Nonlinear systems; Sliding mode control; Uncertainty
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2020.3042168

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.