Distributed containment control of multi-agent systems with velocity and acceleration saturations

Tengfei Liu, Jia Qi, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper studies the problem of distributed containment control for multi-agent systems modeled by double integrators. A new class of rotation-free distributed containment controllers with successive saturated loops is proposed for the challenging situation where the velocity and acceleration of each agent are required to stay within their desired ranges. It is proved that the objective of containment control is achievable if the parameters of the controllers satisfy a mild condition. Moreover, the desired ranges of the accelerations and the velocities are allowed to be very small, and the interconnection topology is allowed to be directed and switched.

Original languageEnglish (US)
Title of host publicationProceedings of the 38th Chinese Control Conference, CCC 2019
EditorsMinyue Fu, Jian Sun
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9789881563972
StatePublished - Jul 2019
Event38th Chinese Control Conference, CCC 2019 - Guangzhou, China
Duration: Jul 27 2019Jul 30 2019

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927


Conference38th Chinese Control Conference, CCC 2019


  • Acceleration constraint
  • Containment control
  • Multi-agent systems
  • Switched topology
  • Velocity constraint

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation


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