Containment Control for High-Order Multi-Agent Systems With Nonuniform Communication Delays and Switching Topologies

In this paper, the containment control was studied for high-order discrete-time multi-agent systems. A distributed algorithm is proposed for all followers to be gathered in the convex area formed by multiple stationary leaders. It is revealed that the algorithm can solve the containment problem with communication delays and switching networks provided that each follower has at least a directed path from some leaders to itself in the union of graphs. The main analysis approaches include model transformation techniques, Lyapunov function, and convexity analysis. Finally, a simulation is also given to show the theoretical result.