A connectivity preserving containment control strategy for a network of single integrator agents

This paper is concerned with the distributed control strategies for a group of single integrator agents with static leaders. The information flow graph of the underlying multi-agent network is assumed to be static, undirected, and connected. A bounded control law is proposed which is shown to have strict connectivity preservation property. The containment of the followers by leaders is subsequently proved by using the LaSalle invariance principle. The effectiveness of the proposed strategy is demonstrated by simulations.