Output formation containment of heterogeneous singular multiagent systems using adaptive protocols

In this paper, the output formation containment control problem for heterogenous singular multiagent systems is studied. The purpose of this control is to drive the output of leader agents reach an time-varying formation and take containment action for the follower agents. Firstly, two novel distributed adaptive protocols are designed, which rely on the relative outputs information of agents without measuring and transmitting the states of agents. Then, the formation containment control problem can be simplified into the admissible analysis of coupled nonlinear singular systems by constructing the model transformation. The output formation control conditions related on spectrum radius of weighted adjacency matrix are obtained based on the bounded real lemma and admissible analysis. In addition, the adaptive protocols based on the state of virtual leader are proposed, which can drive the agents achieve formation containment control more quickly when the state of virtual leader is known. Finally, the simulation results verify the feasibility of output formation containment control.