Abstract
In this paper, passivity is used to investigate the formation control problem for second-order multi-agent system. Firstly, the passivity of single agent is studied by selecting appropriate adaptive state feedback controller. Moreover, in order to ensure that multi-agent system can converge to a predefined formation, an appropriate control scheme is designed based on the passivity of single agent. Finally, the effectiveness of the proposed formation control strategy is demonstrated through a numerical example.
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