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

Abstract

In this paper, we investigate the distributed constrained containment control problem for continuous-time multiagent 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.