Distributed adaptive containment for linear multi-agent systems using output information

This paper investigates the adaptive containment for linear multi-agent systems under fixed topologies. Adaptive output feedback control protocols are proposed, under which all the followers will asymptotically converge to the convex hull spanned by the leaders. By using tools from matrix, graph and Lyapunov stability theories, a distributed sufficient condition for containment of linear multi-agent systems is obtained. We also present the containment protocols for linear multi-agent systems via adaptive state feedback as a special case. Finally, numerical simulations are presented to illustrate the theoretical findings.