Analysis of asynchronous containment control problem for discrete-time multi-agent systems

Asynchronous containment control problem of discrete-time multi-agent system is investigated in this paper. It is assumed that each agent can detect the state information of neighbors to update its state by its own clock, which is independent of the other agents. Based on nonnegative matrix theory and graph theory, we derive a necessary and sufficient condition to guarantee that all the follower agents asymptotically converge to the static convex leader set. Finally, some simulation examples are performed to validate the obtained theoretical results.