Formation control for second-order multi-agent systems with time-varying delays under directed topology

被引：67
|
作者：
Lu, Xiaoqing [1 ]
Austin, Francis [2 ]
Chen, Shihua [1 ]
机构：
[1] Wuhan Univ, Sch Math & Stat, Wuhan 430072, Peoples R China
[2] Hong Kong Polytech Univ, Dept Appl Math, Hong Kong, Hong Kong, Peoples R China
来源：
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION | 2012年 / 17卷 / 03期
关键词：
Multi-agent system; Time-varying delay; Second-order; Formation control; Directed topology; CONSENSUS; AGENTS; LEADER;
D O I：
10.1016/j.cnsns.2011.07.029
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
In this paper, we investigate a formation control problem for second-order multi-agent systems with directed graph interconnection topologies that contain time-varying coupling delays. By using a special multiple leaders framework, sufficient conditions are obtained for both time-invariant and time-varying formations as well as for time-varying formations for trajectory tracking, which guarantees the attainment of the formations is at exponentially converging speeds. Some numerical simulations are also conducted to validate the theoretical results. (C) 2011 Elsevier B.V. All rights reserved.
引用
收藏
页码：1382 / 1391
页数：10
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