Fully distributed containment control for second-order multi-agent systems with communication delay.

Abstract

In this paper, fully distributed containment control problems of multi-agent systems with double-integrator dynamics are investigated under directed topologies. For the cases with and without communication delay, two new fully distributed control protocols are designed, which do not need any global information of the communication topology graph. Necessary and sufficient conditions are obtained to ensure the solvability of the considered containment control problems. Particularly, for the case with communication delay, the critical value of the maximum allowable time delay of containment control is found. Finally, numerical simulations are presented to demonstrate the effectiveness of the theoretical results.