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This paper considers an optimal bipartite formation control problem for high-order nonlinear multiagent systems (MASs) with the consideration of obstacle/collision avoidance. Contrary to existing literature, the control strategy designed in this paper can render the agents in a bipartite formation to complete the obstacle/collision avoidance tasks without requiring the obstacles to be located on the coordinate axis. To save resources, an identifier-critic-actor-based optimized formation control scheme is designed for MASs. An obstacle/collision avoidance approach based on dynamical systems (DS) is designed for high-order nonlinear MASs. Different from the existing related results, the proposed DS-based obstacle/collision avoidance approach can avoid the phenomenon that the control quantities approach infinity near obstacles or other agents, and eliminate the dependence on global information. Finally, a simulation example is given to validate the proposed control method. [ABSTRACT FROM AUTHOR]

This paper concerns the H ∞ filtering of Markov jump nonlinear systems with general uncertain transition probabilities allowed to be uncertain and unknown. Attention is focused on the construction of an extended filter such that the filtering error system is stochastically stable with a prescribed H ∞ performance requirement. Effective strategies are developed to deal with nonlinearities induced by uncertain and unknown transition probabilities and system nonlinearities, which is also the main contribution of this work. Based on these strategies, sufficient conditions to render the filtering error systems stochastic stable with the prescribed H ∞ performance are established in the framework of linear matrix inequalities. The validity of the proposed filtering scheme is illustrated by numerical examples. [ABSTRACT FROM AUTHOR]