Adaptive Containment Control for a Class of Uncertain Multi-agent SystemsWith Unknown Virtual Control Gain Functions

In this paper, we consider a containment control problem for a class of uncertain multi-agent systems (MASs). The systems contain unknown parameters and virtual control gain functions. By introducing lower bounds of virtual control gain functions into the Lyapunov functions, a novel controller design scheme is proposed based on an adaptive control design approach and bound estimation method. The designed controller is simpler in comparison with other controllers. The simulation results show that three followers converge into the convex hull rapidly following the sinusoidal leaders, and the effectiveness of the designed controller is verified.