NETWORK-BASED CONTAINMENT CONTROL PROTOCOL OF MULTI-AGENT SYSTEMS WITH TIME-VARYING DELAYS

This paper is concerned with the problem of Network-based containment control for a class of multi-agent systems. Under a directed graph, the containment control protocol of distributed multi-agent system is accomplished through a communication network, in which way all followers' states can be driven asymptotically converge to the convex hull spanned by the leaders. By combining Lyapunov stability theory and linear matrix inequality (LMI) method, a sufficient condition guaranteeing containment control is derived, and the network-based containment control gain is achieved by solving the feasibility of linear matrix inequality. The results show the network-based containment control protocol effectively helps compensate the time-varying delays produced in the communication network. Finally, the effectiveness and feasibility of the control method are verified with a simulation example.