Containment control for high-order multi-agent systems with nonconvex control input constraints and non-particle leaders

This paper is devoted to the nonconvex control input constrained containment control problem for multi-agent systems with non-particle leaders, switching topologies, and communication delays. A decentralized algorithm is adopted for followers with discrete-time high-order dynamics. Through model transformations and by analyzing the convergence of the maximum distance from the followers to the convex hull, it is demonstrated that each follower finally moves into the convex hull created by the leaders, even in the presence of nonconvex input constraints, non-particle leaders, switching topologies, and communication delays. Finally, numerical examples demonstrate the effectiveness of the theoretical conclusions.