Containment Control for Nonlinear Multi-agent Systems with Parameter Uncertainties and Communication Delays

This paper considers robust containment control problem for uncertain multi-agent systems with inherent nonlinear dynamics. A distributed protocol is proposed using local delayed state information, and then the original problem is converted into an H_i control problem by defining an appropriate controlled output function. Based on robust H_i theory, sufficient conditions in terms of linear matrix inequalities (LMIs) are derived to ensure the H_i containment. A numerical example is provided to demonstrate the effectiveness of our theoretical results