Output Formation Containment of Heterogeneous Singular Multiagent Systems Using Adaptive Protocols

ABSTRACT In this study, the output formation containment control problem for heterogeneous singular multiagent systems is investigated. The purpose of this study is to drive the output of the leader agents to reach a time‐varying formation and take containment action for the follower agents. First, a novel distributed adaptive protocol is designed that relies on the relative output information of agents without measuring and transmitting their states information. Then, the formation containment control problem can be simplified into an admissible analysis of coupled nonlinear singular systems by constructing a model transformation. The output formation control conditions related to the spectral radius of the weighted adjacency matrix are obtained based on the bounded real lemma and admissible analysis. In addition, the adaptive protocols based on the state of the virtual leader are proposed, which can drive the agents to achieve formation containment control more quickly when the state of the virtual leader is known. Finally, the simulation results verify the feasibility of the output formation containment control.