Observer-based Bipartite Containment Control of Multi-agent Systems with Input and Output Quantization

This paper presents a sliding mode control (SMC) method for the bipartite containment control of multi-agent systems (MASs) under input and output quantization. First, an observer based on the super-twisting algorithm (STA) is used to estimate the unmeasured velocities of followers in finite time, using only quantized position information. Second, an SMC controller is developed to achieve bipartite containment control for followers under input and output quantization. The stability analysis ensures that sliding variables and bipartite containment position errors converge within specified ranges determined by the quantization parameters and STA-based observer parameters. Finally, simulation results validate the effectiveness of the proposed SMC method.