Containment Control Problem of Linear Multi-agent Systems with External Disturbance

This paper mainly addresses the containment control issues of linear multi-agent systems with undirected fixed communication topology in the presence of certain perturbations. Based on the relative output information among neighboring agents, the relative state observer are adopted to estimate the the relative state information. By the state estimator and the disturbance estimator, a effective control law is given to make the containment control problem can be solved. Furthermore, with help of algebraic theory, Lyapunov theory and Young Inequality, a sufficient condition is established to guarantee that the multi-agent systems with exogenous disturbance can realize the containment control. Finally, a simulation example is provided to illustrate the efficiency of the theoretical analysis.