Abstract

In this paper, the formation control with strictly dissipativity for first-order nonlinear multi-agent systems (MASs) under switching topologies is investigated. Firstly, formation control protocols are designed to guarantee that MASs with switching topologies can reach the prespecified desired formation. Then, based on the polynomial Lyapunov function method, sufficient conditions are presented to ensure maintaining the formation of agents and strictly dissipativity for MASs subject to external disturbances. Finally, illustrative example is given to demonstrate the effectiveness of obtained theoretical results.

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