Fully Distributed Containment Control for Second-Order Nonlinear Multi-Agent Systems With External Disturbances

This brief investigates the containment control for a class of second-order nonlinear multi-agent systems, where all agents are subject to external disturbance and leaders contain bounded inputs. To derive a protocol which is implemented without any global information, including the Lipschitz constants and eigenvalues of the Laplacian matrix, the adaptive control strategy is used. Sufficient conditions on containment control independent of global information and bounds of disturbances are established. To ensure that the followers can reach the convex hull spanned by leaders under the influence of disturbances, the non-smooth control strategy is introduced. The developed protocol is applied to a specific multi-agent system to show its effectiveness.