This paper addresses the fuzzy adaptive containment control problem for nonlinear multi-agent systems with unknown external disturbance and input quantization under a directed graph. Firstly, the quantized input signal and unknown external disturbance are simultaneously considered in the pure-feedback multi-agent systems. Fuzzy logic systems and disturbance observers are used to deal with unknown nonlinear functions and external disturbances, respectively. By using the second-order tracking differentiators, the containment control scheme is developed to guarantee that all followers converge to the dynamic convex hull formed by the leaders, and containment errors can converge to the boundary with prescribed performance. It is theoretically shown that all the signals of the closed-loop system are semi-globally uniformly bounded. Finally, a comparative simulation example is given to verify the effectiveness and superiority of the proposed method.

本文解决了在有向图下具有未知外部干扰和输入量化的非线性多智能体系统的模糊自适应包含控制问题。首先，在纯反馈多智能体系统中同时考虑量化的输入信号和未知的外部干扰。模糊逻辑系统和干扰观测器分别用于处理未知的非线性函数和外部干扰。通过使用二阶跟踪微分器，开发了包含控制方案，以保证所有跟随者收敛到领导者形成的动态凸包，并且包含错​​误可以收敛到具有规定性能的边界。理论上表明，闭环系统的所有信号都是半全局一致有界的。最后，