Containment control of fractional-order nonlinear multi-agent systems under fixed topologies

This article investigates the containment control problem of fractional-order nonlinear multi-agent systems under fixed topologies. The containment control problem of multi-agent systems is first transformed to the stability problem of fractional-order nonlinear systems. A distributed protocol is then proposed. By using the Lyapunov function method of fractional-order systems, it is proved that under the designed protocol, the followers can asymptotically converge to a dynamic convex hull spanned by multiple leaders. Numerical simulations are provided to illustrate the effectiveness of the proposed protocols.