Research on containment control of second-order nonlinear multi-agent with collision avoidance mechanism

The containment protocol proposed in the previous researches does not take the collision among followers into consideration under certain conditions. The containment of second-order nonlinear multi-agent system with collision avoidance mechanism around formation is studied based on the graph theory, matrix analysis and nonlinear analysis. The static and adaptive protocols are proposed, respectively. Lyapunov method is used to obtain the sufficient condition for stability of protocols. The simulations are used to verify the effectiveness of the containment control protocols. The protocols can make followers' trajectories finally converge to a finite radius from the convex hull spanned by leaders' trajectories, and keep the distances among followers being more than the safe distances all the time.