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Disturbance Observer-Based Robust Formation-Containment of Discrete-Time Multiagent Systems with Exogenous Disturbances

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  • Chengjie Xu
  • Bofan Li
  • Yi Yuan
  • Xiao Ling Wang

Abstract

This paper investigates robust formation-containment control of discrete-time multiagent systems (MASs) with exogenous disturbances. Based on the discrete-time disturbance observer method, both state feedback and output feedback control protocols are proposed. Formation-containment conditions are obtained and convergency analysis is given according to Lyapunov stability theory. And, the corresponding control gains are obtained by solving some discrete-time algebraic Riccati equations. Numerical simulations are presented to illustrate the theoretical findings.

Suggested Citation

  • Chengjie Xu & Bofan Li & Yi Yuan & Xiao Ling Wang, 2021. "Disturbance Observer-Based Robust Formation-Containment of Discrete-Time Multiagent Systems with Exogenous Disturbances," Complexity, Hindawi, vol. 2021, pages 1-11, May.
    • Handle: RePEc:hin:complx:5525067
    DOI: 10.1155/2021/5525067
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