Distributed Containment Control of Fractional-order Multi-agent Systems with Double-integrator and Nonconvex Control Input Constraints

This paper mainly considers the distributed containment control problem for continuous-time fractional-order multi-agent systems (FOMASs) with double-integrator, where the control input of each agent is constrained to lie in a nonconvex set. A distributed projection containment control algorithm is designed for each follower. To finish the convergence analysis, the original closed-loop system is first changed into an equivalent one by a proper model transformation and the method of the L-1 interpolation approximation is introduced to deal with the projection operator. Then, by using the properties of the convex hull and the Mittag-Leffler function, it is shown that the largest distance between the followers and the convex hull spanned by leaders tends to zero asymptotically, while all agents' control inputs are constrained to stay in their corresponding nonconvex constraint sets. Finally, numerical simulations are provided to verify the effectiveness of the theoretical results.