摘要：This paper develops both adaptive distributed dynamic state feedback control law and adaptive distributed measurement output feedback control law for heterogeneous discrete-time swarm systems with multiple *** convex hull formed by the leaders and the system matrix of leaders is estimated via an adaptive distributed containment *** estimations will feed the followers so that every follower can update the system matrix of the corresponding adaptive distributed containment observer and the system state of their *** followers cooperate with each other to achieve leader-follower consensus and thus solve the containment control problem over the *** results demonstrate the effectiveness and computational feasibility of the proposed control laws.

摘要：This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output *** leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the *** system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov ***,a numerical example is given to illustrate the validity of the theoretical results.