Second‐order extended state observers‐based adaptive event‐triggered containment control for nonlinear multiagent systems with mismatched stochastic disturbances

Summary

This article investigates the event‐triggered containment control problem for nonlinear multiagent systems with mismatched stochastic disturbances. A set of second‐order extended state observers (ESOs) is constructed to solve the problem of bounded stochastic disturbances. The observers are able to estimate the disturbances in each control input channel in real‐time and solve the problem of stochastic disturbances path non‐differentiability. Based on backstepping technique, adaptive controllers are designed to ensure that the output of the followers converge to the convex hull formed by the leaders. Moreover, a simplified event‐triggered threshold condition is designed, which effectively reduces the update frequency of the controller and the complexity of threshold condition. Based on the Lyapunov stability theorem, it is proved that all signals in the closed‐loop systems are the practically bounded. Finally, the effectiveness of the proposed control scheme is verified by simulation results.