Leader-following formation control for second-order multi-agent systems with time-varying delays

This paper investigates a leader-following formation control problem for second-order multi-agent systems with nonuniform time-varying communication delays under directed topologies. We first propose a consensus protocol and give a sufficient condition for second-order consensus of the system. Then,...

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Bibliographic Details
Published in:Transactions of the Institute of Measurement and Control 2014-07, Vol.36 (5), p.627-636
Main Authors: Xia, Hong, Huang, Ting-Zhu, Shao, Jin-Liang, Yu, Jun-Yan
Format: Article
Language:English
Subjects:
Agents (artificial intelligence)
Control systems
Delay
Expert systems
Formations
Nonuniform
Simulation
Topology
Tracking
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Summary:This paper investigates a leader-following formation control problem for second-order multi-agent systems with nonuniform time-varying communication delays under directed topologies. We first propose a consensus protocol and give a sufficient condition for second-order consensus of the system. Then, under a framework of multiple leaders, the protocol is applied to the formation control, including time-invariant formation and time-varying formation as well as time-varying formation for trajectory tracking. It is shown that the agents will attain the desired formation under the protocol. Finally, several simulations are conducted to illustrate the effectiveness of our theoretical results.
ISSN:0142-3312
1477-0369
DOI:10.1177/0142331213513606