Containment control for second-order multi-agent systems via impulsive algorithms using position-only measurements

摘要

This paper studies distributed containment control for second-order multi-agent systems. An impulsive control algorithm without using velocity information is developed to achieve containment control with multiple leaders. Some sufficient and necessary conditions are obtained to achieve the containment control asymptotically. The final states of all followers converge into the convex hull formed by the leaders. The convergence of controlled systems is decided by the eigenvalues of the Laplacian matrix of the communication topology, the sampling period and the gain parameters. Finally, some simulations are given to show the effectiveness of the proposed algorithm.