Distributed impulsive containment control for second-order multi-agent systems with multiple leaders

Abstract

This paper considers the problem of distributed containment control for second-order multi-agent systems via impulsive control, here both multiple stationary and dynamic leader cases under a directed network topology that characterizes the interaction among the leaders and the followers are addressed. Two distributed impulsive containment control protocols for such system are proposed, where each agent only exchanges position information with its neighbors and updates its velocity state in the form of an abrupt jumps setting. For the stationary leader case, a necessary and sufficient condition is presented to achieve the containment control task, while for the dynamical leader case, a sufficient criterion is derived to regulate all followers to access the dynamic convex hull formed by the dynamic leaders. Finally, numerical examples are given to illustrate the theoretical results.