Distributed dynamic containment problem in discrete-time switching networks

This paper investigates the discrete-time containment tracking of a dynamic convex hull considering general switching network topologies, external disturbances, and leaders’ unmeasurable velocities. We propose a generalized set input-to-state stability (SISS) analysis framework based on the maximal distance between followers and the target convex hull, deriving feasible conditions for a typical discrete-time containment protocol. The theoretical findings are validated through numerical simulations.