Abstract
In this paper, adaptive time-varying group formation control for second-order multi-agent systems with undirected topology is studied. Firstly, a conventional multi-group adaptive time-varying formation control protocol is presented, and the stability of the system is analyzed based on Lyapunov method. Then, the traditional method of dealing with nonlinear dynamics cannot be directly applied to time-varying formation problem, the parameter estimation method is used to track the unknown internal nonlinear dynamics of agent. Virtual leader and filter are introduced to solve the problem of variable derivation and repeated derivation of system state, and the adaptive rate of time-varying formation converges to a stable value. Finally, the feasibility of the results is verified by two simulation results.
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