Abstract
This paper comes up with two novel sampled data containment control protocols with intermittent communication for second-order multi-agent systems, where the intermittent communication is periodic. For the protocols with or without time delay, two necessary and sufficient conditions are obtained. In both cases, containment control can be implemented, where each follower can eventually reach the convex hull made up of multiple leaders. In particular, for the protocol with time delay, depending on the size of the time delay, two different conditions are obtained to achieve containment. More interestingly, the result that the smaller the time delay is, the easier it is to calculate the interval of the appropriate sampling period has been found. At last, the correctness of the theoretical results is verified by several simulations.
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