Distributed Observer-Based Adaptive Formation-Containment Tracking for Multi-Agent Systems on Directed Graphs

Qi Zhang, Ke-Xing Yan, Bo Xiao () and Tao Han
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Qi Zhang: School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China
Ke-Xing Yan: School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China
Bo Xiao: School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China
Tao Han: School of Electrical Engineering and Automation, Hubei Normal University, Huangshi 435002, China

Mathematics, 2025, vol. 13, issue 4, 1-20

Abstract: This article investigates the issue of observer-based adaptive time-varying formation-containment tracking (TVFCT) for multi-agent systems (MASs) with bounded unknown input in directed graphs. By applying estimated statuses of neighboring agents, two observer-based adaptive TVFCT control algorithms are deployed for MASs with multiple tracking leaders and one tracking leader, respectively. Notably, the proposed control algorithms remain independent and do not rely on the comprehensive global information of the entire communication network. Furthermore, the algebraic Riccati inequalities and the Lyapunov theorem provide the bases for assessing the achievement of TVFCT in MASs within directed graphs. Lastly, simulation results are provided to validate the theoretical conclusions.

Keywords: time-varying formation-containment tracking (TVFCT); observer-based adaptive; multiple tracking leaders; directed graphs (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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