Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology

This paper studies the formation control problem for the second-order heterogeneous nonlinear multi-agent systems (MASs) with switching topology and quantized control inputs. Compared with formation control under the fixed topology, under the switching topology inherent nonlinear dynamics of the agent and the connectivity change of the communication topology are considered. Moreover, to avoid the chattering phenomenon caused by unknown input disturbances, the hysteretic quantizers are incorporated to quantize the input signals. By using the Lyapunov stability theory and leader-follower formation approach, the proposed formation control scheme ensures that all signals of the MASs are semi-globally uniformly ultimately bounded (SGUUB). Finally, the efficiency of the theoretical results is proved by a simulation example.