Time-Varying Formation Tracking for Multiple Dynamic Targets: Finite- and Fixed-Time Convergence

Abstract

This brief considers the finite-time and fixed-time time-varying formation tracking (TVFT) problem for multiple dynamic targets. Without requiring at least one well-informed agent to obtain the information of all the targets, each agent is allowed to explore any number of targets according to its own detection capability. Based on local interactions, a couple of distributed TVFT control protocols are proposed for agents to achieve a desired time-varying formation while tracking the convex combination of the states of multiple targets, in a finite and fixed settling time, respectively. Besides, by introducing time-varying parameter designs, the positions and velocities of the targets are free without any constraints. Finally, a numerical example is given to validate the obtained theoretical results.