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The distributed coordination problem of multi-agent systems is addressed inthis paper under the assumption of intermittent communication between agents inthe presence of time-varying communication delays. Specifically, we considerthe containment control problem of second-order multi-agent systems withmultiple dynamic leaders under a directed interconnection graph topology. Also,communication between agents is performed only at some discrete instants oftime in the presence of irregular communication delays and packet dropout.First, we present distributed control algorithms for double integrator dynamicsin the full and partial state feedback cases. Then, we propose a method toextend our results to second-order systems with locally Lipschitz nonlineardynamics. In both cases, we show that the proposed approach leads to ourcontrol objectives under sufficient conditions relating the characteristics ofthe communication process and the control gains. We also show that our approachcan be applied to solve various similar coordination problems in multi-agentsystems under the same communication constraints. The effectiveness of theproposed control schemes is illustrated through some examples and numericalsimulations.

Containment Control of Second-order Multi-agent Systems Under Directed Graphs and Communication Constraints