Containment Problem for Multiagent Systems With Nonconvex Velocity Constraints

In this paper, the containment problem with nonconvex velocity constraints is studied for second-order discrete-time multiagent systems. A distributed projection-based 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 velocity-constrained 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. A simulation example is also included to elucidate the obtained result.