A Novel Backstepping Containment Control Scheme for Multi-agent Systems with Unknown Virtual Control Gain Functions

This paper addresses a containment control challenge for a specific category of uncertain multi-agent systems (MASs) characterized by unknown parameters and virtual control gain functions. A novel controller design approach is introduced by incorporating lower bounds of virtual control gain functions into the Lyapunov functions, leveraging adaptive control design principles and a bound estimation method. The resulting controller offers a simpler alternative compared to existing controllers. Simulation outcomes demonstrate the convergence of three followers towards the convex hull as they track sinusoidal leaders, which confirm the efficacy of the proposed controller design.