This paper investigates the distributed containment maneuvering problem for uncertain nonlinear multiagent systems in multiple-input multiple-output (MIMO) strict-feedback form. The follower agents are driven to achieve a collective motion guided by multiple parameterized paths, and a dynamic behavior can be independently prescribed for the group during maneuvering. A containment maneuvering controller is developed by utilizing a modular design method enabling decoupled estimation and control. Specifically, an estimator module is constructed by utilizing an echo state network to identify the unknown nonlinearities. Next, a controller module is constructed by employing a modified dynamic surface control method where a second-order nonlinear tracking differentiator is introduced to extract the derivative information of the virtual control law. Subsequently, a path update law is derived such that the virtual leaders are synchronized, and the desired speed profile for the group can be specified independently. By using a small-gain theorem and cascade stability theory, the entire closed-loop system is proved to be input-to-state stable, and the containment maneuvering errors are uniformly ultimately bounded. An application for the formation control of marine surface vehicles is provided to show the efficacy of the proposed controller for containment maneuvering of uncertain nonlinear MIMO strict-feedback systems.

中文翻译：

---

MIMO严格反馈形式下不确定多智能体系统的分布式遏制机动

本文研究了多输入多输出（MIMO）严格反馈形式的不确定非线性多智能体系统的分布式遏制机动问题。跟随代理被驱动以实现由多个参数化路径引导的集体运动，并且可以在机动期间为该组独立规定动态行为。利用模块化设计方法开发了一种安全壳机动控制器，实现了分离的估计和控制。具体而言，通过利用回声状态网络来识别未知非线性来构建估计器模块。接下来，通过采用改进的动态表面控制方法构建控制器模块，其中引入二阶非线性跟踪微分器来提取虚拟控制律的导数信息。随后，推导出路径更新规律，从而使虚拟领导者同步，并且可以独立指定组的所需速度曲线。通过使用小增益定理和级联稳定性理论，证明了整个闭环系统是输入到状态稳定的，并且围堵操纵误差最终一致有界。提供了一个用于海洋水面车辆编队控制的应用程序，以展示所提出的控制器对不确定非线性 MIMO 严格反馈系统的遏制机动的有效性。证明整个闭环系统是输入到状态稳定的，并且围堵操纵误差最终一致有界。提供了一个用于海洋水面车辆编队控制的应用程序，以展示所提出的控制器对不确定非线性 MIMO 严格反馈系统的遏制机动的有效性。证明整个闭环系统是输入到状态稳定的，并且围堵操纵误差最终一致有界。提供了一个用于海洋水面车辆编队控制的应用程序，以展示所提出的控制器对不确定非线性 MIMO 严格反馈系统的遏制机动的有效性。