Distributed convex optimization of bipartite containment control for high-order nonlinear uncertain multi-agent...

This article investigates a penalty-based distributed optimization algorithm of bipartite containment control for high-order nonlinear uncertain multi-agent systems with state constraints. The proposed method addresses the distributed optimization problem by designing a penalty function in the form of a quadratic function, which is the sum of the global objective function and the consensus constraint. Moreover, the observer is presented to address the unmeasurable state of each agent. Radial basis function neural networks (RBFNN) are employed to approximate the unknown nonlinear functions. Then, by integrating RBFNN and dynamic surface control (DSC) techniques, an adaptive backstepping controller based on the barrier Lyapunov function (BLF) is proposed. Finally, the effectiveness of the suggested control strategy is verified under the condition that the state constraints are not broken. Simulation results indicate that the output trajectories of all agents remain within the upper and lower boundaries, converging asymptotically to the global optimal signal.