Containment Control With Position Constraints, Time Delays, and Switching Graphs

Abstract

This paper addresses the problem of containment control for second-order multi-agent systems with position constraints, time delays, and switching graphs. The approach involves treating position constraints with a scaling factor and transforming the system into a new one through model transformations. Based on the analysis of Lyapunov function, it is demonstrated that all followers will eventually enter the convex hull formed by the leaders, as long as there exists at least a directed path to one of the leaders for all followers in the union of the communication graphs. Finally, numerical results are presented to validate the effectiveness of the algorithm.

Keywords

• Multi-agent systems
• containment control
• position constraints
• time delays
• switching graphs