Containment control of leader-following multi-agent systems with jointly-connected topologies and time-varying delays.

This paper considers the containment control problem for leader-following multi-agent systems in the presence of dynamically switching topologies with communication delays. Two types of control algorithms are proposed for containment control with first-order dynamics and second-order dynamics. By applying modern control theory and algebraic graph theory, the stabilities of two containment control algorithms are analyzed on Lyapunov–Krasovskii method. Moreover, some sufficient conditions are provided through further researching the connected portion of multi-agent systems, which can ensure that the containment control can be achieved asymptotically when communication topologies are jointly-connected. Finally, some simulation examples are provided to demonstrate the effectiveness of two proposed algorithms. [ABSTRACT FROM AUTHOR]