Further Results on Containment Control for Multi-Agent Systems with Variable Communication Delay

This paper considers the problem on containment control of general linear multi-agent systems (MASs) with communication time-varying delay. Based on directed interaction topology, some sufficient conditions on the existence of feedback controller gains are provided to ensure the desired control. Through choosing an augmented Lyapunov-Krasovskii (K-L) functional and using some novel integral inequalities to estimate the derivative of Lyapunov functional, the previously ignored information can be reconsidered and the application area of the derived results can be greatly extended. Moreover, a novel constructive method is proposed to compute out the controller gains based on LMI technique. Finally, a numerical example with some simulations is provided to illustrate the effectiveness of the obtained results.