Robust Containment Control of Uncertain Multi-Agent Systems Subject to Transmission Delays

This paper investigates the robust containment control problem of uncertain heterogeneous linear multi-agent systems with unbounded transmission delays under some mild assumptions. A novel distributed output feedback control strategy is proposed based on the distributed observer approach and the internal model principle. It is shown that under the proposed control strategy, the output of each follower converges to the convex hull spanned by the outputs of the leaders and the concerned time delayed system is analyzed by the Lyapunov-Krasovskii functional method. A simulation example is provided to show the effectiveness of the proposed controller.