Observer Based Containment Control for Multi-Agents System With Lipchitz and Input Delay

This paper considers the containment control problem in leader-follower multi-agent systems with Lipschitz nonlinearity for continuous time and directed spanning forest communication topology. A containment controller which is based on state feedback method is proposed based on relative information from each agent in the Laplacian structure. With this controller, the outcome of all followers is contained within a convex hull by the leaders with a minimum one leader with a directed communication path to one of the followers. Based on the network structure and the Lyapunov stability theory, the stability conditions are provided by careful analysis. It is shown that the controller is able to contain the followers and stable.