Projection-Based Containment Control of Multiple Nonlinear Systems With Switching Topologies

This article addresses the distributed containment control problem of nonlinear multiagent systems with directed jointly connected switching topologies. It is assumed that the dynamics of agents are unknown nonlinear pure-feedback forms. The novel adaptive containment-control laws are designed to solve the case without considering the formation among leaders first and then the case of leaders’ formation. Different from the existing results, a condition of average dwell time is given by using the smooth parameter projection. Uniformly ultimate boundedness of the closed-loop system is analyzed in detail. Simulations show the feasibility and effectiveness of the proposed scheme.