This paper focuses on the adaptive containment control problem for nonlinear strict-feedback multi-agent systems with dynamic leaders. An adaptive controller is constructed by backstepping control, first-order filters and compensating signals. The ``explosion of complexity" phenomenon is avoided by introducing first-order filters in traditional backstepping control, and filter errors are handled with compensating signals. All adaptive laws are accumulated to the last step by using tuning functions. The whole control design method is divided into two parts. One is to design adaptive tracking control for dynamic leaders. The other is to design adaptive containment control for followers. Through the proposed control method, the closed-loop system is stable, and all followers can converge to the convex hull built by the leaders. The simulation studies can confirm the effectiveness of the proposed control method.

本文重点研究具有动态领导者的非线性严格反馈多智能体系统的自适应包含控制问题。自适应控制器由反步控制、一阶滤波器和补偿信号构成。通过在传统的反推控制中引入一阶滤波器来避免“复杂性爆炸”现象，并通过补偿信号处理滤波器误差。所有自适应律通过调谐函数累加到最后一步。整个控制设计方法为分为两部分，一是设计动态领导者的自适应跟踪控制，二是设计跟随者的自适应包含控制。通过所提出的控制方法，闭环系统是稳定的，所有跟随者都能收敛到凸包领导建立的。