Containment Control for General Second-Order Multiagent Systems With Switched Dynamics.

This paper investigates the distributed containment control problem for a class of general second-order multiagent systems with switched dynamics, which is composed of a continuous-time (CT) subsystem and a discrete-time (DT) subsystem. For this switched multiagent system under fixed directed topology, a distributed containment control protocol is proposed for each follower based on the relative local measurements of neighboring followers and leaders. Some necessary and sufficient conditions are derived under the condition that the network topology contains a directed spanning forest, and these conditions ensure that the general second-order containment control problem can be solved under arbitrary CT-DT switching. If the general second-order system is reduced to the double integrator system, some simpler containment conditions are presented. Furthermore, the similar results are also obtained under switching directed topology. Finally, some simulation examples are presented to show the efficiency of the theoretical results.