Robust adaptive finite-time containment control for nonlinear multi-agent systems with unknown input saturations

Abstract

In this article, the distributed adaptive finite-time containment control problem is investigated for nonlinear multi-agent systems with unknown input saturations. Since the leaders are only available to partial subsystems, a distributed estimator is designed to estimate the local reference signals. The saturated function is converted to the combination of a linear part and a nonlinear part, thus overcomes the difficulties caused by unknown saturated bounds. By utilising the command filtered and backstepping control techniques, a two-step method is adopted to construct the controller, under which the effect of unknown input saturations can be compensated well. It is proved that the closed-loop system is practical finite-time stable, and the output of each follower can converge to the dynamic convex hull spanned by the leaders in finite time. Finally, a group of four one-link manipulator systems is used to support the feasibility of the developed control scheme.

Keywords:

• Adaptive finite-time containment control
• nonlinear MASs
• unknown input saturations
• command filtered technique

Disclosure statement

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this manuscript.

Additional information

Funding

This work was funded by the National Natural Science Foundation of China [grant numbers 62173172 and U22A2043].