Containment control of discrete-time multi-agent systems with multiple stationary leaders and time-delays

Containment control of multi agent system with time-delays is a problem with practical significance in the complex dynamics system. In this paper, we study the problem of distributed containment control of a group of mobile autonomous agents with multiple stationary leaders under fixed directed network topologies and for each follower, there exists at least one leader that has a directed path to the follower. Z transform are used to study the multi-agent delayed system with discrete-time. Some sufficient conditions are obtained to ensure the containment of the first-order multi-agent system and a kind of control protocol was proposed for the second-order discrete-time systems with fixed time-delay. Finally, computer simulations show the effectiveness of the conclusion.