This study addresses a secure containment control problem for multi-agent systems subject to external disturbances. In practical scenarios, follower agents often lack direct access to the leader’s information and must also mitigate the impact of external disturbances. To overcome these challenges, we propose an adaptive bounded \(H_{\infty }\) containment control strategy. The proposed approach designs a state feedback controller combined with an adaptive control law to ensure that the followers converge to the convex hull formed by the leaders. At the same time, the system achieves \(H_{\infty }\) performance to attenuate external disturbances. Additionally, inter-agent safety is ensured through the use of an artificial potential field method for collision avoidance. The boundedness of all signals in the closed-loop system is rigorously demonstrated via Lyapunov stability analysis. Numerical simulations further confirm the effectiveness and advantages of the proposed control scheme in achieving reliable containment control, efficient collision avoidance, and disturbance attenuation.
