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Mathematical Problems in Engineering
Volume 2014, Article ID 840517, 9 pages
Research Article

Adaptive Fuzzy Containment Control for Uncertain Nonlinear Multiagent Systems

1School of Electrical Engineering, Liaoning University of Technology, Jinzhou 121001, China
2School of Electrical Engineering, University of Ulsan, Ulsan 680749, Republic of Korea

Received 12 April 2014; Revised 1 September 2014; Accepted 8 September 2014; Published 16 October 2014

Academic Editor: Xing-Gang Yan

Copyright © 2014 Yang Yu and Kang-Hyun Jo. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers the containment control problem for uncertain nonlinear multiagent systems under directed graphs. The followers are governed by nonlinear systems with unknown dynamics while the multiple leaders are neighbors of a subset of the followers. Fuzzy logic systems (FLSs) are used to identify the unknown dynamics and a distributed state feedback containment control protocol is proposed. This result is extended to the output feedback case, where observers are designed to estimate the unmeasurable states. Then, an output feedback containment control scheme is presented. The developed state feedback and output feedback containment controllers guarantee that the states of all followers converge to the convex hull spanned by the dynamic leaders. Based on Lyapunov stability theory, it is proved that the containment control errors are uniformly ultimately bounded (UUB). An example is provided to show the effectiveness of the proposed control method.