Fully Distributed Containment Control of Nonlinear Multi-agent Systems

In this paper, the containment problem of multi-agent nonlinear dynamic systems under directed topologies is reconsidered, where the exchange of the observer information between neighboring agents is avoided to release the communication burden. In this setting, only the relative output measured by sensor networks can be utilized to generate the observer and the controller. We regard the Lipschitz nonlinearity and relative input of each agent as unknown input and give a reduced-order observer-based protocol.