Distributed Containment Control of Continuous-Time Multiagent Systems With Nonconvex Control Input Constraints

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Abstract
In this paper, we investigate the distributed constrained containment control problem for continuous-time multi-agent systems with nonconvex control input constraints. A nonlinear projection containment control algorithm for followers with double-integrator continuous-time dynamics is proposed. We show that each follower finally stays in the convex hull formed by multiple stationary leaders provided that for each follower, there exists at least one directed path from leaders to it in the union of the graphs in each bounded time interval. Finally, a simulation example is implemented to illustrate theoretical results.
Funding Information
  • National Natural Science Foundation of China (61790572, 61573082)
  • National Science Foundation (ECCS-1611423)
  • National Natural Science Foundation of China (61621062)
  • 111 Project (B17048)
  • Innovation-driven Plan at Central South University (2018CX009)

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