Containment Control Algorithm for Multi-agent System with Heterogeneous Agents

This paper investigates the containment control problem in distributed multi-agent systems under switching topologies. We propose a distributed containment control algorithm to address scenarios where different types of agents coexist within the system (heterogeneous multi-agent system). The algorithm ensures that all agents within the system will enter the convex hull formed by leaders. Additionally, we improve the handling of leader information by directly computing it, which avoids the computational overhead associated with traditional algorithms that involve projection calculations. By discussing system stability and convergence under three different conditions, we prove that each follower can enter the convex hull ultimately if the union of each switching graph is strongly connected in a bounded time interval. Finally, we validate the effectiveness of the proposed algorithm through a numerical simulation.