Formation Problem of Second-Order Multi-agent Systems with Input Delay and Communication Delay

Abstract

Distributed formation control of Second-order Multi-agent Systems has been discussed in this paper. A consensus-based cooperative formation control strategy with both input delay and communication delay has been proposed. The control strategy not only consider the deviation between the actual speed and the standard speed, but also, on the basis of this, consider the deviation between the actual displacement and the standard displacement. In order to achieve a faster consensus seeking, the tow-hop relay protocol has been introduced into the strategy. The control strategy makes agents can build up stable and desired formation and move at expected speed. Based on the frequency-domain analysis and matrix theory, the distributed conditions are proved for the formation control of system. A six-vehicle formation control example is shown in simulation as an illustrative example.