Constrained Containment Control of Agents Network with Switching Topologies

In this brief, the containment problem of double-integrate discrete-time agents network is investigated with control input and velocity constrains. A nonlinear projection algorithm is used to converge all follower agents into a convex hull formed by static leaders, where a scaling factor is proposed to solve the nonlinear constrains such as saturations and nonconvex constrains. Based on model transformation and Lyapunov function, the range from follower agents to the convex hull is proved to be nonincreasing under suitable assumption. Finally, after convex analysis, the containment problem is solved by the proposed algorithm with bounded time delays on condition that the union of the topology graphs contains spanning trees.