Containment Control of Linear Continuous-time Invariant Multi-Agent Systems

This paper investigates an approach for distributed containment control to linear continuous-time invariant multi-agent systems. Firstly, a distributed static control protocol aims to guarantee that all followers converge within the convex hull delineated by the leaders. The feasibility of this protocol is theoretically proven. Secondly, the information of neighbor nodes is incorporated, leading to the design of a dynamic control protocol that emphasizes follower cooperation with neighboring nodes during the convergence process. Finally, simulations are conducted for both the static and dynamic protocols, and the simulation results are compared to validate the feasi bility and superiority of the proposed scheme.