Containment Control of Linear Heterogeneous Multi-Agent Systems with Time Delay

In this paper, the output containment control problem of linear heterogeneous multi-agent systems with time delay is studied. The topology that characterize the interaction between the leaders and the followers is a digraph. The leaders dynamics are homogeneous, and the followers dynamics are heterogeneous. A dynamic compensator is given to estimate the convex combination of the leaders outputs and the output containment control problem is transformed into a cooperative output regulation problem. Then base on the classic linear output regulation theory, a distributed dynamic feedback control law is designed to solve the cooperative output regulation problem under a necessary and sufficient criteria. A result for the state containment control problem of linear heterogeneous multi-agent systems with time delay is also given as a special case of the output containment control problem.