Robust finite-time containment control for high-order multi-agent systems with matched uncertainties under directed communication graphs

ABSTRACT

In this paper, we study the robust finite-time containment control problem for a class of high-order uncertain nonlinear multi-agent systems modelled as high-order integrator systems with bounded matched uncertainties. When relative state information between neighbouring agents is available, an observer-based distributed controller is proposed for each follower using the sliding mode control technique which solves the finite-time containment control problem under general directed communication graphs. When only relative output information is available, robust exact differentiators and high-order sliding-mode controllers are employed together with the distributed finite-time observers. It is shown that robust finite-time containment control can still be achieved in this situation. An application in the coordination of multiple non-holonomic mobile robots is used as an example to illustrate the effectiveness of the proposed control strategies.

Keywords:

• Multi-agent system
• high-order uncertain system
• finite-time containment control
• directed graphs
• non-holonomic mobile robots

Acknowledgements

This work is supported by National Natural Science Foundation of China under Grants 61473003.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work is supported by National Natural Science Foundation of China [grant number 61473003].