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Multiagent Containment Control With Nonconvex States Constraints, Nonuniform Time Delays, and Switching Directed Networks

This brief studies the constrained containment control problem of continuous-time multiagent systems with nonconvex states constraints, nonuniform time delays, and switching directed networks. A distributed containment control algorithm consisting of nonlinear projection, nonlinear constraints, and communication delays is proposed. Based on the model transformation technique, convex analysis method, and the Lyapunov function, we prove that all agents finally converge into the convex hull formed by the given stationary points with arbitrarily bounded communication delays and arbitrarily switching networks as long as each agent jointly has at least one path from the given points to itself. Finally, a numerical example is included to show the effectiveness of theoretical results.