Containment Control of Double-constrained MASs With Time-varying Delays in Switching Networks*

Containment with time delays, double constraints of position and velocity is investigated in directed switching multi-agent networks. The communication time delays of inter-agent are different and bounded. The aim is to propose a distributed containment method to guarantee that all followers move into a given convex area formulated by a group of leaders, meanwhile, followers’ velocities and positions remain in the corresponding sets. This algorithm is conducted by using local interaction information, and a sufficient condition to realize containment is obtained via utilizing model transformations, convex analysis, and Lyapunov stability theory. If all followers can get the position from leaders in the duration of all communication topologies, the constrained containment can be realized, and the main conclusions is verified by the simulation.