Fully distributed containment control for second-order multi-agent systems with communication delay.

In this paper, fully distributed containment control problems of multi-agent systems with double-integrator dynamics are investigated under directed topologies. For the cases with and without communication delay, two new fully distributed control protocols are designed, which do not need any global information of the communication topology graph. Necessary and sufficient conditions are obtained to ensure the solvability of the considered containment control problems. Particularly, for the case with communication delay, the critical value of the maximum allowable time delay of containment control is found. Finally, numerical simulations are presented to demonstrate the effectiveness of the theoretical results.

Containment Control for General Second-Order Multiagent Systems With Switched Dynamics.

This paper investigates the distributed containment control problem for a class of general second-order multiagent systems with switched dynamics, which is composed of a continuous-time (CT) subsystem and a discrete-time (DT) subsystem. For this switched multiagent system under fixed directed topology, a distributed containment control protocol is proposed for each follower based on the relative local measurements of neighboring followers and leaders. Some necessary and sufficient conditions are derived under the condition that the network topology contains a directed spanning forest, and these conditions ensure that the general second-order containment control problem can be solved under arbitrary CT-DT switching. If the general second-order system is reduced to the double integrator system, some simpler containment conditions are presented. Furthermore, the similar results are also obtained under switching directed topology. Finally, some simulation examples are presented to show the efficiency of the theoretical results.