|Distributed Containment Control for Multi-agent Systems in Purefeedback Form under Switching Topologies
Yuehui Ji*, Hailaing Zhou, and Qiang Gao
International Journal of Control, Automation, and Systems, vol. 16, no. 5, pp.2312-2320, 2018
Abstract : "The distributed containment control problem is investigated for nonlinear multi-agent systems in purefeedback
form subjected to switching directed communication topologies. Based on command filtered backstepping
technology and singular-perturbation theorem, a containment controller is addressed to guarantee that
the followers’ outputs can converge to the convex hull spanned by multi-dynamic leaders, and the containment
tracking errors between leaders and followers is semi-global practical exponential stable in the closed-loop system.
A nonlinear anti-tangent filter is adopted to estimate the virtual control, avoiding the analytical deduction inherent in
traditional back-stepping method and overcoming the ?circular construction problem? in non-affine pure-feedback
systems. Differing from the existing back-stepping method, the proposed control scheme only requires leaders’
output signals and their first derivative signals, does not need the prior knowledge of their nth order derivative signals.
The stability analysis is completed via the singular perturbation theory, revealing some novel features of the
underlying back-stepping method. Finally, two simulation examples are provided to illustrate the effectiveness of
the control scheme."
"Command filtered back-stepping, distributed containment control, pure-feedback system, singular perturbation analysis, switching topology."