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Journal of Control Science and Engineering
Volume 2017, Article ID 9489431, 7 pages
Research Article

Second-Order Containment Control of Multiagent Systems in the Presence of Uncertain Topologies with Time-Varying Delays

1College of Computer and Control Engineering, Nankai University, Tianjin 300353, China
2Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China
3College of Information and Electrical Engineering, Ludong University, Yantai 264025, China

Correspondence should be addressed to Zhongxin Liu; nc.ude.iaknan@xhzl

Received 30 September 2016; Revised 1 December 2016; Accepted 18 December 2016; Published 10 January 2017

Academic Editor: Xian Zhang

Copyright © 2017 Fuyong Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers the containment control problem of second-order multiagent systems in the presence of time-varying delays and uncertainties with dynamically switching communication topologies. Moreover, the control algorithm is proposed for containment control, and the stability of the proposed containment control algorithm is studied with the aid of Lyapunov-Krasovskii function when the communication topology is jointly connected. Some sufficient conditions in terms of linear matrix inequalities (LMIs) are provided for second-order containment control with multiple stationary leaders. Finally, simulations are given to verify the effectiveness of the obtained theoretical results.