Distributed Continuous-Time Containment Control of Heterogeneous Multiagent Systems with Nonconvex Control Input Constraints

This paper focuses on studying containment control problem with switching communication graphs of continuous-time heterogeneous multiagent systems where the inputs are constrained in a nonconvex set. A nonlinear projection algorithm is proposed to address problem. We discuss stability and system topologies input constraints under three different conditions. It shown that all agents converge convex hull given leaders ultimately while staying set premise at least one directed path from exists each bounded time interval. Finally, validity results obtained this verified by simulation.