Abstract
The problem of time-varying formation control for multi-agent systems (MAS) with asynchronously switched directed topologies is studied in current paper. The dynamics of the agents in MAS are considered as general linear models. A switching signal is introduced to describe the switching directed topologies. Topology-dependent formation controllers are designed based on the consistency theory, and the algorithm of the control protocol is proposed. The asynchronous switching between the communication topologies and the controllers is considered. The sufficient conditions are presented for MAS with asynchronously switched directed topologies to achieve time-varying formation based on the theory of multiple Lyapunov functions and stability analysis method of average dwell time (ADT). Finally, the correctness of the theoretical results is demonstrated by numerical simulation.
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