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

Tengfei Liu, Jia Qi, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


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)
Article number108992
StatePublished - Jul 2020


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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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