Abstract
In this article, the distributed aperiodic time-triggered intermittent control protocol (DATICP) is presented for the time-varying formation tracking of multi-agent systems (MASs) with multiple leaders. Firstly, we present the mathematical description of DATICP. The characteristic of DATICP lies in that for each agent, its control signal is updated at aperiodic sampling instants on work time intervals and disappears on rest time intervals. Secondly, based on a mixed time-dependent Lyapunov functional (MTLF), the exponential stability theorem of the derived system is established. Thirdly, according to the theorem, sufficient conditions are given to achieve time-varying formation tracking for MASs with multiple leaders by DATICP. As a result, a corollary is obtained which compromises conservativeness and complexity. Finally, two simulation examples are offered for illustration.
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