Containment Control for Discrete-Time Multi-Agent Systems with Nonconvex Control Input and Position Constraints

With increasing attention on containment control problems in several areas, we investigate this specific problem which can be more practical. Systems with nonconvex input and position constraints are common but can be strongly nonlinear. A distribute algorithm using a projection operator is proposed to ensure that the control input of every follower remains in a nonconvex set and that all followers stay in the closed set given by leaders. In analysis, a model transformation is proposed, and then we introduce a method utilizing two similar triangles to prove the acceptability of the algorithm. The findings of the research could be pragmatic in robotics, astronautics, and so on. At last, numerical simulations are provided to show the contrast and results.