This article focuses on the containment control problem for nonlinear multiagent systems (MASs) with unknown disturbance and prescribed performance in the presence of dead-zone output. The fuzzy-logic systems (FLSs) are used to approximate the unknown nonlinear function, and a nonlinear disturbance observer is used to estimate unknown external disturbances. Meanwhile, a new distributed containment control scheme is developed by utilizing the adaptive compensation technique without assumption of the boundary value of unknown disturbance. Furthermore, a Nussbaum function is utilized to cope with the unknown control coefficient, which is caused by the nonlinearity in the output mechanism. Moreover, a second-order tracking differentiator (TD) is introduced to avoid the repeated differentiation of the virtual controller. The outputs of the followers converge to the convex hull spanned by the multiple dynamic leaders. It is shown that all the signals are semiglobally uniformly ultimately bounded (SGUUB), and the local neighborhood containment errors can converge into the prescribed boundary. Finally, the effectiveness of the approach proposed in this article is illustrated by simulation results.

This paper investigates the finite-time-prescribed performance-based (FTPP) platoon formation control problem of unmanned surface vehicles (USVs) with connectivity preservation andcollisionavoidance.Eachvehicleissubjecttounmeasuredvelocities, model uncertainties, external disturbances and actuator input delay. By introducing a finite-time performance function (FTPF), the desired transient and steady-state performances can be guaranteed in finite time, which makes the line-of-sight (LOS) error and angle error be limited within the desired constraints to achieve collision avoidance and connectivity maintenance. Furthermore, a relevant variable containing constrained upper and lower bounds is designed to further realize the FTPP with asymmetric properties. In order to recover unmeasured velocity information, estimate uncertain dynamics of the vehicle and compensate for external disturbances, an extended state observer (ESO) based on position-heading information is proposed. Thereinto, the event-triggered mechanism is introduced to reduce the communication burden from the sensor to the observer channel. The effects of actuator input delay are eliminated by using the Pade approximation transform. A second-order linear tracking differentiator (TD) is introduced into the kinematic design to avoid the measurement of acceleration in the dynamics control design. The stability analysis shows that the proposed control scheme ensures that all signals of the USVs are bounded, and the Zeno behavior will not occur. Moreover, the distance between the two neighboring USVs converges to the prescribed range, meanwhile, the tracking angle error limits to a desired arbitrarily small region within finite time. Finally, the simulation results further confirm the effectiveness of the proposed control scheme

This article investigates the containment control problem of nonlinear multiagent systems subject to actuator nonlinearity, unmeasured states, and unknown external disturbances. The predictor technique is employed for each subsystem, and the prediction error is utilized to update the adaptive law. The problem of actuator nonlinearity with dead zone and saturation input is solved by introducing an auxiliary control signal. Incorporating the state observer and disturbance ones, an extended state observer is proposed to compensate the effect of unmeasurable and unknown disturbances, simultaneously. Based on Lyapunov theory and graph theory, it is shown that the devised control scheme guarantees that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded. Moreover, the followers can enter the dynamic convex hull spanned by the dynamic leaders. A simulation example with comparison analysis is provided to illustrate the effectiveness of the theoretical results.