In this paper, we study the robust global containment control problem for second-order multiagent systems with bounded input disturbances subject to input saturation under general directed communication graphs. Two types of distributed controllers based on novel sliding mode control ideas are respectively proposed to solve the globally asymptotic containment problem for multiagent systems with static leaders and the practical containment problem for the case with dynamic leaders subject to unknown control inputs. One distinctive feature of the proposed controllers is that only local velocity measurements, relative position, and velocity measurements are involved in designing the controllers, which thus effectively reduces the information transmission burden among the agents for real-time implementation. Another favorable property of the designed controllers is that the global information such as the spectrum of the graph Laplacian matrix is not required in designing these controllers under general directed communication graphs. Simulations on containment control of multiple quadrotors are performed to illustrate the effectiveness of the proposed containment controllers.

中文翻译：

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具有输入饱和度的二阶多Agent系统的分布式鲁棒全局遏制控制

在本文中，我们研究了在一般有向通信图下具有输入饱和的有界输入扰动的二阶多智能体系统的鲁棒全局遏制控制问题。分别提出了两种基于新颖滑模控制思想的分布式控制器，以解决带有静态领导者的多智能体系统的全局渐近约束问题和具有未知控制输入的动态领导者的实际约束问题。所提出的控制器的一个显着特征是在设计控制器时仅涉及局部速度测量，相对位置和速度测量，从而有效地减少了代理之间的信息传输负担以进行实时实现。所设计控制器的另一个有利特性是，在一般有向通信图下设计这些控制器时，不需要全局信息（例如图拉普拉斯矩阵的频谱）。对多个四旋翼飞行器的安全壳控制进行了仿真，以说明所提出的安全壳控制器的有效性。