In this study, a nonlinear second-order multi-agent systems containment control method based on compensator is discussed. In order to deal with nonlinear systems with inherent time delay, a new compensator-based control algorithm is proposed. The fully distributed compensator is designed to effectively converge the states of all followers to the convex hull formed by the states of leaders. By introducing a compensator, the errors in the system can be corrected and the influence of time delay on the system can be compensated to ensure that the system can achieve the desired performance and stability. Then, the original system is transformed into an error system by using matrix theory, and the stability of the error system is analyzed by using Lyapunov method, and the sufficient conditions for the solvability of the control problem are obtained. Finally, the effectiveness of the control algorithm is verified by matlab simulation.
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