State feedback containment control of multi-agents system with lipschitz nonlinearity

<p>This paper studies the containment control problem of leader-follower configuration in a multi-agents system included with type nonlinearity such as Lipschitz respect to continuous-time and directed spanning forest communication network topology. A state feedback controller is designed proposed theory Laplacian structure where it utilizes relative information each agent. The ensures that followers are contained by leaders form convex hull formation. For happen, minimum one leader needed have direct trajectory followers. Lyapunov stability used provide conditions after analyzing structure. Finally, has been shown from simulation successfully controller.</p>