scholarly journals Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 65379-65389 ◽  
Author(s):  
Lyulong He ◽  
Jiaqiang Zhang ◽  
Yueqi Hou ◽  
Xiaolong Liang ◽  
Peng Bai
Keyword(s):  
Discrete Time ◽  
Formation Control ◽  
Second Order ◽  
Time Varying ◽  
Communication Delays ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Topologies ◽  
Multi Agent

Time-Varying Formation Control for Time-Delayed Multi-Agent Systems with General Linear Dynamics and Switching Topologies

2019 ◽  
Vol 07 (01) ◽  
pp. 3-13 ◽  
Author(s):  
Wei Xiao ◽  
Jianglong Yu ◽  
Rui Wang ◽  
Xiwang Dong ◽  
Qingdong Li ◽  
...  
Keyword(s):  
Formation Control ◽  
Sufficient Conditions ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Analysis And Design ◽  
Agent Systems ◽  
Control Protocol ◽  
Switching Topologies ◽  
Multi Agent

Time-varying formation analysis and design problems for general linear multi-agent systems with switching interaction topologies and time-varying delays are studied. Firstly, a consensus-based formation control protocol is constructed using local information of the neighboring agents. An algorithm with three steps is presented to design the proposed formation control protocol. Then, based on linear matrix inequality technique and common Lyapunove–Krasovskii stability theory, sufficient conditions for general linear multi-agent systems with switching topologies and time-varying delays to achieve time-varying formation are given together with a time-varying formation feasibility condition. Finally, a numerical simulation is given to demonstrate the effectiveness of the obtained theoretical results.

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