Abstract
This paper investigates a leader-following formation control problem for second-order multi-agent systems with nonuniform time-varying communication delays under directed topologies. We first propose a consensus protocol and give a sufficient condition for second-order consensus of the system. Then, under a framework of multiple leaders, the protocol is applied to the formation control, including time-invariant formation and time-varying formation as well as time-varying formation for trajectory tracking. It is shown that the agents will attain the desired formation under the protocol. Finally, several simulations are conducted to illustrate the effectiveness of our theoretical results.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Transactions of the Institute of Measurement and Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
