Adaptive Observer-based Fast Bipartite Formation-Containment Control for Nonlinear Multiagent Systems with Delays via A Reset Approach
摘要
This paper addresses the adaptive fast bipartite time-varying formation-containment control problem for nonlinear multiagent systems with multiple leaders, under a reset-mechanism framework. Most existing formation-containment control schemes often suffer from slow convergence, insufficient robustness, or overly conservative criteria when confronted with large time delays, nonlinear couplings, and dynamic uncertainties. To overcome these challenges, a leader-following control architecture integrated with a reset mechanism is introduced. A distributed state-disturbance observer is designed to achieve joint estimation of both states and disturbances, and an adaptive reset bipartite formation-containment control protocol is proposed to significantly enhance convergence speed and disturbance attenuation capability. Meanwhile, to reduce the conservatism in time-delay analysis, a novel Lyapunov-Krasovskii functional embedding matrix polynomials and delay-product terms is constructed. Improved stability criteria are then derived by employing degree-dependent reciprocal convex matrix inequality and the Bessel-Legendre inequality. Finally, simulations on a group of wheeled robots validate the effectiveness and superiority of the proposed method, demonstrating faster convergence, enhanced stability, and stronger robustness compared with existing approaches.