Robust prescribed-time containment control for high-order uncertain multi-agent systems with extended state observer

In this study, the robust prescribed-time containment control with prescribed-time extended state observer is addressed for high-order multi-agent systems with model uncertainties and external disturbances. First, a prescribed-time distributed observer is developed for each follower to estimate the convex hull spanned by the states of the leaders. Namely, it can generate the reference tracking signal for each follower. Furthermore, since only the output of each follower is available and its dynamics is inevitably disturbed by diverse uncertainties and disturbances, a prescribed-time extended state observer is developed for estimation. In addition, a robust prescribed-time containment controller is put forward to realize the containment control. Then the proposed strategy is successfully applied to the wheeled mobile robots. Finally, experimental results verify the effectiveness of the proposed method.