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Distributed Continuous‐Time Containment Control of Heterogeneous Multiagent Systems with Nonconvex Control Input Constraints

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  • Xue Li
  • Lulu Wang
  • Yinsen Zhang

Abstract

This paper focuses on studying containment control problem with switching communication graphs of continuous‐time heterogeneous multiagent systems where the control inputs are constrained in a nonconvex set. A nonlinear projection algorithm is proposed to address the problem. We discuss the stability and containment control of the system with switching topologies and nonconvex control input constraints under three different conditions. It is shown that all agents converge to the convex hull of the given leaders ultimately while staying in the nonconvex set under the premise that at least one directed path from leaders to the agents exists in each bounded time interval. Finally, the validity of the results obtained in this paper is verified by simulation.

Suggested Citation

  • Xue Li & Lulu Wang & Yinsen Zhang, 2022. "Distributed Continuous‐Time Containment Control of Heterogeneous Multiagent Systems with Nonconvex Control Input Constraints," Complexity, John Wiley & Sons, vol. 2022(1).
    • Handle: RePEc:wly:complx:v:2022:y:2022:i:1:n:7081091
    DOI: 10.1155/2022/7081091
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    References listed on IDEAS

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    1. Jun Shen & James Lam, 2016. "Containment control of multi-agent systems with unbounded communication delays," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(9), pages 2048-2057, July.
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