Abstract
In this paper, we discuss the distance-based formation control problems for double-integrator multi-agent system (MAS) via impulsive protocols. The proposed controller allows all agents to attain the desired formation shape by controlling the inter-distances and velocities. Unlike the common conditions in most literatures associated with distance-based formation, where the information is assumed to be exchanged continuously, in our proposed strategy, the information of leader are exchanged according to an impulsive sequence, which is more applicable to some difficult communication environment. For the continuous control term, we will generate a potential function and use relative distance information of inter-agents to form and keep the desired formation shape. The impulsive control term is applied to the tracking errors between each agent and the leader at every impulse moment. By using Lyapunov’s method, the exponential stability of the system with the proposed impulsive control law has been demonstrated. Numerical examples are provided to validate the effectiveness of our approach.
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