Distributed Robust Containment Control for Multi-Robot Systems via Adaptive Critic Designs

This article develops a distributed robust containment control approach for multi-robot systems via adaptive critic designs. To begin with, the distributed robust containment control problem of multi-robot systems with modeling uncertainties is transformed into an optimal containment control problem of its nominal plant by designing discounted value functions for all following robots. Hereafter, the distributed optimal containment control law is derived by solving the coupled Hamilton-Jacobi-Bellman equation of each following robot via the critic-only structure. Moreover, theoretical analysis shows that the developed adaptive critic design-based distributed robust containment control scheme guarantees the containment errors of all following robots to be asymptotically stable. Finally, the effectiveness of the present control approach is verified by simulation studies.