Leader-following consensus protocols for formation control of multi-agent network
Xiaoyuan Luo, Nani Han, Xinping Guan · Journal of Systems Engineering and Electronics · 2011
Two protocols are presented, which can make agents reach consensus while achieving and preserving the desired for- mation in fixed topology with and without communication time- delay for multi-agent network. First, the protocol without consid- ering the communication time-delay is presented, and by using Lyapunov stability theory, the sufficient condition of stability for this multi-agent system is presented. Further, considering the com- munication time-delay, the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated. The main contri- bution of the proposed protocols is that, as well as the velocity consensus is considered, the formation control is concerned for multi-agent systems described as the second-order equations. Finally, numerical examples are presented to illustrate the effec- tiveness of the proposed protocols.