The containment problem is investigated for networked second-order agents with nonuniform position and nonconvex velocity constraints under directed switching topologies. A distributed containment algorithm is designed for each agent to drive it into the convex target area formed by multiple leaders. The proposed control strategy only utilizes the information of each agent and its neighbor interaction. Theoretical analysis demonstrates that the constrained containment problem can be addressed only if each agent has a directed communication path from at least one leader to it in the union of the graphs. Finally, several numerical simulation results are presented to demonstrate the proposed control schemes.

中文翻译：

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具有位置和速度约束的多智能体系统的包含问题

研究了定向切换拓扑下具有非均匀位置和非凸速度约束的网络二阶代理的遏制问题。为每个智能体设计了一个分布式遏制算法，将其驱动到由多个领导者形成的凸目标区域。所提出的控制策略仅利用每个代理及其邻居交互的信息。理论分析表明，只有当每个代理在图的联合中具有从至少一个领导者到它的有向通信路径时，才能解决受约束的包含问题。最后，给出了几个数值模拟结果来证明所提出的控制方案。