Containment Control with Multiple Leaders

  • Wei Ren
  • Yongcan Cao
Part of the Communications and Control Engineering book series (CCE)


This chapter introduces a containment control problem, where a group of followers is driven by a group of leaders to be in the convex hull spanned by the leaders. The problem has applications in hazardous material handling, search and rescue, and cooperative transport. We consider three cases, namely, containment control with multiple stationary leaders, containment control with multiple dynamic leaders, and containment control with swarming behavior. Simulation results are presented to illustrate the theoretical results.


Convex Hull Interaction Graph Stationary Leader Arbitrary Initial Condition Swarming Behavior 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.Dept. Electrical & Computer EngineeringUtah State UniversityLogan UtahUSA

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