Containment Control of Double-Integrator Multi-Agent Systems With Time-Varying Delays

This article mainly considers the containment control problem of multi-agent systems (MASs), where the time-varying communication delays are taken into consideration and the multiple leaders are stationary or dynamic. Specially, when leaders are stationary, the communication delays among agents are nonuniform, which is rarely considered in existing papers. Furthermore, when leaders are dynamic, we derive the sufficient conditions for the case with uniform time-varying communication delays. In both cases, all followers are included into the convex hull spanned by leaders with proposed control protocol, in which we get the sufficient conditions by using Lyapunov-Krasovskii functional. At last, the effectiveness is verified by simulations.