Containment Control for High-Order Heterogeneous Continuous-Time Multi-Agent Systems with Input Nonconvex Constraints

This article investigates containment control for high-order heterogeneous continuous-time multi-agent systems (MASs) with input nonconvex constraints, bounded communication delays and switching topologies. Firstly, we introduce a scaling factor for the constraint operator to obtain an equivalent unconstrained system model. Following equivalent model transformations, we analyze the maximum distance from all agents to the convex hull spanned by leaders using norm-based differentiation. It is demonstrated that, within high-order heterogeneous continuous-time MASs subject to control input nonconvex constraints, the convergence of each agent into the convex hull spanned by leaders is guaranteed, provided that there exists at least one directed path from any leader to each agent within the union of communication topologies. Simulation examples are presented to validate the theoretical findings.