Containment control for second-order multi-agent systems with intermittent sampled position data under directed topologies

Abstract

This paper investigates the intermittent containment control problem for second-order multi-agent systems under directed communication topologies. In order to reduce energy consumption and overcome the difficulty of velocity measurement in engineering applications, an intermittent containment control protocol utilizing the present time-varying position data and sampled position data is proposed. Under the assumption on the existence of the directed spanning forest, a necessary and sufficient condition for the stability of the multi-agent system is obtained, which is derived by the coupling coefficients, the eigenvalues of the Laplacian matrix, the period length and the communication width. Finally, the correctness of the theoretical results is validated by experimental simulations.