Distributed containment control of second-order multiagent systems with input delays under general protocols

摘要

This article addresses the distributed containment control problem in a group of agents governed by second-order dynamics with directed network topologies. Considering there are multiple leaders, we study a general second-order containment controller which can realize several different consensus modes by adjusting control gains. A necessary and sufficient condition on the control gains of the general containment controller is provided. Moreover, the delay sensitivity of the closed-loop multiagent system under the general containment controller is studied; the maximal upper bound of the constant delays is obtained. Finally, several numerical examples are used to illustrate the theoretical results. (c) 2015 Wiley Periodicals, Inc. Complexity 21: 112-120, 2016