Abstract
The paper investigates containment control for the first-order and second-order multi-agent systems with constant time delays under event-triggered conditions, respectively. By applying existing sum of square method to stability analysis of containment control for multi-agent systems, sufficient containment conditions for multi-agent systems are obtained. First, we discussed the case of containment control for multi-agent system with single time delay, and event-triggered conditions are proposed. Then, we extend the results of containment control for multi-agent systems with single time delay to the case with multiple time delays. Finally, simulation examples are given to illustrate the effectiveness of our theoretical results. (C) 2017 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.