Multi-Task-Based Group Containment and Consensus Control for Multi-Agent System

In this paper, we explore the issue of multi- task-based group containment and consensus control under nonlinear and linear dynamics for a second-order multi-agent system, respectively. Firstly, a novel control law is given, which aims to make the multi-agent system achieve two different goals after it is categorized into two groups. The task of the first group is to achieve containment control, and the task of the second group of agents is to achieve consensus control by bringing all followers into agreement with the state of one leader. Secondly, by applying the Lyapunov stability theory and integrating the Laplacian matrix of the system with the connection matrix between the followers and the leaders, the conditions for achieving group containment and consensus control based on multiple tasks are obtained. Finally, the validity of the constructed model is confirmed by the verification of Matlab numerical simulation results.