Containment control of systems with constraints and bounded disturbances

This article studies the distributed containment control of a second-order discrete-time multi-agent system with convex constraints on positions, nonconvex constraints on velocities, bounded disturbances on static points and switching topologies. A distributed control algorithm with disturbance information and local information is proposed. It is proved that when the static points with disturbances and the joint graph have a directed spanning forest among each time interval, all agents are gradually driven to the neighborhood of a convex hull spanned by the static points, and an upper bound of the neighborhood is obtained. The most innovative point is to utilize a rigorous mathematical theory to deal with convex constraint error rather than a geometric explanation. Meanwhile, another control algorithm with static point information and local information is proposed to converge all agents to the convex hull in the absence of external disturbances. Additionally, a numerical example is conducted to illustrate this theory.