Article ID Journal Published Year Pages File Type
767182 Communications in Nonlinear Science and Numerical Simulation 2012 10 Pages PDF
Abstract

In this paper, we investigate a formation control problem for second-order multi-agent systems with directed graph interconnection topologies that contain time-varying coupling delays. By using a special multiple leaders’ framework, sufficient conditions are obtained for both time-invariant and time-varying formations as well as for time-varying formations for trajectory tracking, which guarantees the attainment of the formations is at exponentially converging speeds. Some numerical simulations are also conducted to validate the theoretical results.

► Formation control of multi-agent systems is an important coordinated control problem. ► This paper studied the formation control for second-order multi-agent systems. ► The time-varying coupling delays and directed topology are considered in this paper. ► Control strategies are proposed for formation problems in three different cases. ► The paper concludes by applying the theory to some simulated problems.

Related Topics
Physical Sciences and Engineering Engineering Mechanical Engineering
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