Formation Control of Second-Order Multiagent Systems with Time-Varying Delays

Abstract EN

A formation control problem for second-order multiagent systems with time-varying delays is considered.

First, a leader-following consensus protocol is proposed for theoretical preparation.

With the help of Lyapunov-Krasovskii functional, a sufficient condition under this protocol is derived for stability of the multiagent systems.

Then, the protocol is extended to the formation control based on a multiple leaders’ architecture.

It is shown that the agents will attain the expected formation.

Finally, some simulations are provided to demonstrate the effectiveness of our theoretical results.