Adaptive Fuzzy Containment Control of Second-order Nonlinear Systems Using Only Position Measurements

The containment control problem is investigated for a group of followers governed by multiple nonlinear second-order models and the followers are guided by multiple active leaders. Under the constraints that the velocity signal of each follower is not available, to reconstruct to the velocity signals, we introduce a high gain observer in the control design. Then, a containment control algorithm only using position measurements of the agents is presented by combining fuzzy control technique with the sliding mode surface. It is proved that applying the proposed control method to the considered multi-agent systems, all followers can move into the convex hull formed by the leaders. Numerical results are provided to verify the proposed theoretical results in this paper.