Containment control of second-order multi-agent systems with different sampled position data

This paper investigates the containment control for second-order multi-agent systems with sampled position data. A containment control protocol with second-order dynamics is first designed, where agents may use different outdated sampled data at different sampling instants. Based on algebraic graph theory and matrix theory, a sufficient and necessary condition on the communication topology, the control gains, and the sampling period is established for achievement of containment control. Finally, some numerical simulations are presented to illustrate the proposed theories.