H Containment Control of Multi-agent Systems with Random Communication Time-varying Delay

  • Minhong He
  • Xiaowu MuEmail author


This paper investigates the H containment control problem of multi-agent systems with random communication time-delay. The information exchanges between the agents are supposed to be randomly delayed, characterized by a Bernoulli distribution sequence. And a neighbor-based protocol with random communication delay is proposed. As external perturbation exits broadly in many practical systems, the paper deals with it by using H control theory. By applying stochastic technique, Lyapunov analysis and the free-weighting matrices technique, theoretical results show that the followers will ultimately converge to the convex hull spanned by the leaders in the mean square sense with a prescribed H performance index. Finally, a numerical example is given to demonstrate the validity of the theoretical results.


Containment control H control multi-agent systems random time delay 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.School of Mathematics and StatisticsZhengzhou UniversityZhengzhou, HenanChina

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