Fixed time output feedback containment for uncertain nonlinear multiagent systems with switching communication...

Area of Science:

• Control Theory
• Systems Engineering
• Robotics

Background:

• Multiagent systems (MASs) face challenges with unknown leader dynamics and uncertain communication links.
• Achieving containment control under switching topologies and external disturbances requires robust observer designs.
• Existing methods often necessitate full state information or known communication transition rates.

Purpose of the Study:

• To develop a fixed-time containment protocol for uncertain nonlinear MASs with unknown leader dynamics.
• To address challenges posed by switching communication topologies and external uncertainties.
• To design an output feedback control strategy that ensures fast and precise convergence.

Main Methods:

• A Markov jumping process with partially known transition probability models the switching communication topologies.
• A fixed-time extended state observer (FTESO) estimates states using only relative position information, rejecting uncertainties.
• A fixed-time output feedback containment protocol is designed using the FTESO for follower agents.

Main Results:

• The proposed protocol achieves fixed-time containment consensus with reduced communication burden and enhanced robustness.
• The FTESO provides uniform fast and precise estimation capabilities without requiring local velocity states.
• The fixed-time stabilization of the cascaded system is proven using Lyapunov-based methods and bi-limit homogeneity.

Conclusions:

• The developed fixed-time containment protocol effectively guides follower agents into the leader set within a predictable time frame.
• The use of a Markov jumping process and FTESO enhances the system's adaptability to uncertain environments and communication dynamics.
• Simulation results validate the protocol's feasibility and superior performance in achieving robust containment control.