Adaptive Distributed Observer Approach for Cooperative Containment Control of Nonidentical Networks

This paper addresses the containment control problem of nonidentical networks with external disturbance via adaptive distributed observer method. We first present a formulation for containment error, which ensures all the followers' outputs converge to the convex hull spanned by the leaders' reference outputs. Then by using an adaptive distributed observer, the leaders' system matrices and the states of convex hull are both estimated. Furthermore, a novel global regulate equation is designed to restrain the external disturbance, and the problem of containment control for multiagent systems is solved by a dynamic output feedback approach. Finally, some simulation results are given to illustrate the validity of the theoretical results.