Output Containment Control for High-Order Linear Time-Invariant Swarm Systems

Output containment control problems for high-order linear time-invariant swarm systems are investigated. Firstly, output containment protocols are presented for leaders and followers respectively to make sure that the output dynamics property of leaders can be improved and the outputs of followers can converge to the convex hull formed by the outputs of leaders. Then output containment problems for swarm systems are transformed into stability problems, and sufficient conditions for swarm systems to achieve output containment are proposed. Moreover, an approach to determine the gain matrix in the output containment protocol is given, which has less calculation complexity. Finally, numerical simulations are presented to demonstrate theoretical results.