Intermittent Sampled Data Control for Time-Varying Formation-Containment of the Multiagent System with/without Time Delay

Time-varying formation-containment problems for a second-order multiagent system (SOMAS) are studied via pulse-modulated intermittent control (PMIC) in this paper. A distributed control framework utilizing the neighbors’ positions and velocities is designed so that leaders in the multiagent system form a formation, and followers move to the convex hull formed by each leader. Different from the traditional formation-containment problems, this paper applies the PMIC framework, which is more common and more in line with the actual control scenarios. Based on the knowledge of matrix theory, algebraic graph theory, and stability theory, some sufficient conditions are given for the time-varying formation-containment problem of the second-order multiagent system. Some numerical simulations are proposed to verify the effectiveness of the results presented in this paper.