Frequency-domain Criterion on Containment Control of General Linear Multi-agent Systems with Time Delay

Frequency-domain criterion on containment control for general linear multi-agent systems with time delay is studied under the directed network topology. A distributed protocol with time-invariant delay is proposed. When time-delay is an unknown constant, frequency-domain criterion on containment control of general linear multi-agent systems with delay is obtained, and an tipper bound of delay is given to ensure containment, which depends on agent dynamics and network topology. Finally, a simulation is given to demonstrate the effectiveness of the obtained theoretical results.