In this paper, we investigate the distributed constrained containment control problem for continuous-time multiagent systems with nonconvex control input constraints. A nonlinear projection containment control algorithm for followers with double-integrator continuous-time dynamics is proposed. We show that each follower finally stays in the convex hull formed by multiple stationary leaders, provided that for each follower, there exists at least one directed path from leaders to it in the union of the graphs in each bounded time interval. Finally, a simulation example is implemented to illustrate theoretical results.

中文翻译：

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具有非凸控制输入约束的连续时间多智能体系统的分布式遏制控制


在本文中，我们研究了具有非凸控制输入约束的连续时间多智能体系统的分布式约束遏制控制问题。提出了一种双积分连续时间动态跟随器的非线性投影遏制控制算法。我们证明，每个追随者最终停留在由多个固定领导者形成的凸包中，前提是对于每个追随者，在每个有界时间间隔的图的并集中存在至少一条从领导者到它的有向路径。最后，通过一个仿真例子来说明理论结果。