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

Hong Xia, Ting-Zhu Huang, Jin-Liang Shao and Jun-Yan Yu

Mathematical Problems in Engineering, 2014, vol. 2014, 1-8

Abstract:

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.

Date: 2014
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:764580

DOI: 10.1155/2014/764580

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