Distributed Containment Control for Human-in-the-Loop MASs With Unknown Time-Varying Parameters

This paper considers the distributed containment control problem for human-in-the-loop (HiTL) multiagent systems (MASs) subject to unknown time-varying parameters and input saturation. A smooth function containing positive integrable time-varying function is embedded in the controller to compensate for the negative effects of unknown time-varying parameters and uncertain disturbances. Meanwhile, an auxiliary system with the same order as the considered system is skillfully introduced into the backstepping control method to overcome the problem of input saturation. By constructing an adaptive command filter with error compensation mechanism, the problems of the computation burden and filtering errors are solved simultaneously. Moreover, the output signals of followers can converge into the convex hull spanned by multiple dynamic leaders which are controlled by a human operator. Based on the Lyapunov stability theory, it is shown that the containment errors can asymptotically converge into the prescribed bounds. Finally, two simulation examples evaluate the effectiveness of the presented control scheme.