Active Disturbance Rejection Based Containment Control of Stochastic Nonlinear Nonaffine Multiagent Systems

This paper investigates the containment control problem for stochastic nonlinear nonaffine multiagent systems. First, the stochastic nonlinear nonaffine multiagent systems are transformed into the affine systems with unknown dynamics through the idea of active disturbance rejection control and differential homeomorphism transformation. Then, the compensations for completely unknown stochastic and uncertain terms are achieved by using two filters that are designed in the extended states of each follower. Moreover, in light of Lyapunov theory, the proposed containment control strategy ensures that containment errors for all followers are converged to a small neighbourhood of the origin. In the end, the validity of the proposed control scheme is demonstrated by simulation data.