This paper investigates robust formation-containment control of discrete-time multiagent systems (MASs) with exogenous disturbances. Based on the discrete-time disturbance observer method, both state feedback and output feedback control protocols are proposed. Formation-containment conditions are obtained and convergency analysis is given according to Lyapunov stability theory. And, the corresponding control gains are obtained by solving some discrete-time algebraic Riccati equations. Numerical simulations are presented to illustrate the theoretical findings.

中文翻译：

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基于扰动观测者的离散外源扰动多智能体系统的稳健形成-包含

本文研究了带有外源干扰的离散时间多主体系统（MAS）的鲁棒的包含控制。基于离散时间干扰观测器方法，提出了状态反馈和输出反馈控制协议。根据Lyapunov稳定性理论，获得了地层围护条件，并进行了收敛性分析。并且，通过求解一些离散时间代数Riccati方程获得相应的控制增益。数值模拟是为了说明理论发现。