Multiple Harmonics Disturbance-observer-based Containment Tracking Control of Multi-agent Systems with Asymmetric Data Packet Dropout

This paper studied a formation containment tracking control algorithm of a discrete-time dynamics multi-agent system (MAS) subject to multiple harmonics disturbance and asymmetric data packet dropout. A MAS consists of the unmanned aerial vehicles (UAVs) containment tracking problem is considered. Firstly, to confirm the practical engineering, the external disturbance composed of many time-varying harmonics is estimated by a designed multiple harmonics disturbance observer. Secondly, according to the different data packet dropout probability between any two agents in the containment tracking task, an asymmetric packet dropout compensation strategy with the topology matrix is proposed for the disturbance-observer-based distributed containment tracking control scheme designing. By figuring out a series of linear matrix inequalities, the disturbance observer and containment tracking controller gains are obtained. Finally, simulation shows the effectiveness of the theoretical method.