Containment Control of Multi-Agent Systems with Input Saturation and Intermittent Communication

This paper researches containment control of linear multi-agent systems (MAS) with input saturation and intermittent communication in a directed topology. Under the assumptions that each agent is asymptotically null controllable with bounded controls and the topology contains a directed spanning forest, low-gain state feedback intermittent control protocol is designed according to the algebraic Riccati equation, semi-global containment control result is obtained if the communication duration is larger than a certain value. The convergence analysis is builded on algebraic graph theory and Lyapunov control method. Simulation is also provided to illustrate the theoretical result.