Impulsive Formation Control Algorithms for Leader-following Second-order Nonlinear Multi-agent Systems*

This paper investigates second-order nonlinear multi-agent systems with fixed and switching topologies. For the delay multi-agent system with fixed topology, an impulsive formation control strategy is proposed which only operates at instant times. Based on some impulsive time-delay differential inequalities, the sufficient conditions that ensure the nonlinear multi-agent systems converge to a desired formation are established. Furthermore, the results obtained are extended to the case when the interaction topology is switching. For the multiagent with disturbance under switching topology, the sufficient condition is obtained under the impulsive control. Finally, numerical examples are presented to illustrate the effectiveness of the theoretical results.