Containment Control of Linear Parameter‐Varying Multi‐Agent Systems With Bounded Disturbances and Communication Delays

ABSTRACT This paper investigates the containment control problem for linear parameter‐varying (LPV) multi‐agent systems (MASs) subjected to bounded disturbances and communication delays, where the agents' states are unavailable. By using only bounded information on disturbances and states, together with output information, disturbance reconstructor and state observers are designed to asymptotically reconstruct disturbances and estimate states, respectively. Based on the disturbance reconstructor and state observers, a control protocol with time‐varying transmission delays is proposed for LPV MASs communicating over a directed network. It is proven that, under the derived sufficient conditions in terms of linear matrix inequalities, the control protocol ensures that the system achieves containment control. Finally, two simulation examples are presented to demonstrate the effectiveness of the proposed protocol. Compared with the existing containment control protocols for LPV MASs, the proposed observer‐based protocol offers improved robustness by effectively addressing both bounded disturbances and communication delays.