Containment-rendezvous Problem of Second-order Multi-agent Systems with Multiple Static Leaders
Mingyang Huang, Cheng‐Lin Liu · 2021 IEEE 5th Information Technology,Networking,Electronic and Automation Control Conference (ITNEC) · 2021
A coordination control protocol is proposed to handle the containment-rendezvous control problem of second-order multi-agent system consists of multiple static leaders and followers. In proposed control protocol, we add an integral term to drive all followers converge into the convex hull composed of the static leaders. Under the directed topology with a spanning tree, we give a sufficient convergence condition for the achievement of the containment-rendezvous for all followers by the analysis in frequency-domain. A numerical simulation is given to certify the correctness of the theoretical result.