Resilient Containment Control for Multi-agent Systems with Packet Dropouts

This paper is concerned with the resilient containment control for discrete-time multi-agent systems subject to packet dropouts. Based on relative measurement outputs, the purpose of this paper is to design an output-feedback controller such that all followers converge into the convex hull spanned by leaders in mean-square sense. First, with the help of the property of the Laplacian matrix, the containment control problem is transformed to an easy to analyze form. Then, sufficient conditions with the form of matrix inequalities are derived to guarantee the desired containment in mean-square sense. Further, by introducing a free matrix combined with an orthogonal basis of the null space of matrix, the controller gain can be obtained by solving a set of linear matrix inequalities. Finally, an example is exploited to illustrate the effectiveness of the established results.