Containment of Linear Multi-Agent Systems with Reduced-Order Protocols over Signed Graphs

The problem of containment control for a class of continuous-time linear multi-agent systems (MASs) with general signed communication graph and multiple leaders is investigated in this paper. A distributed containment control scheme is designed based on reduced-order observer, where the observer uses only the output information of neighbor agents. By the analysis of Lyapunov stability, the state trajectories of followers will converge to the convex hull formed by the trajectories of leaders and their symmetric trajectories with a prescribed convergence rate under the condition of stability and detection of each follower, where the trajectory of each follower is influenced by at least one leader directly or indirectly. At last, the validity of theoretical results is proved by some simulation results.