Containment Control of Second-Order Multi-agent Systems with Mismatched Disturbances

  • Yuling Li
  • Hongyong YangEmail author
  • Fan Liu
  • Yize Yang
  • Yuanshan Liu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


For the cluster movement problem of multi-agent systems, this paper studies containment control of second-order multi-agent systems with mismatched disturbances. State observers and disturbance observers are designed to estimate the unknown states and disturbances of the systems, and a control protocol based on the active anti-disturbance observers is constructed. By applying matrix theory and modern control theory, the dynamic characteristics of second-order multi-agent systems based on disturbance observers are studied. In numerical simulations, the observers based containment control algorithm is applied to make the motion states of the systems eventually converge to the target area formed by multiple leaders, which verifies the validity of the conclusions in this paper.


Containment control Mismatched disturbances Multi-agent systems Active anti-disturbance control 



This research is supported in part by the National Natural Science Foundation of China (61673200, 61472172, 61471185), the Natural Science Foundation of Shandong Province of China (ZR2017PF010, ZR2018ZC0438), the Key R&D Program of Yantai City of China (2016ZH061).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Yuling Li
    • 1
  • Hongyong Yang
    • 1
    Email author
  • Fan Liu
    • 1
  • Yize Yang
    • 2
  • Yuanshan Liu
    • 1
  1. 1.School of Information and Electrical EngineeringLudong UniversityYantaiChina
  2. 2.School of Electrical Engineering and TelecommunicationsThe University of New South WalesSydneyAustralia

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