Tracking and distributed formation control for leader-following heterogeneous multi-agent systems
Nani Han, Xiaoyuan Luo · 2016
The problems of tracking and distributed formation for leader-following heterogeneous multi-agent systems are investigated in this paper. Firstly, without considering the variable time delay, the formation control protocols are proposed for heterogeneous multi-agent systems under switching topologies. By using Lyapunov theory, the sufficient condition that the protocol can make the followers form the desired formation and keep consensus with the virtual leader is given. Secondly, considering the variable time delay, the protocols for the multi-agent systems under fixed topology are designed, and the sufficient condition that the protocol satisfies to achieve the control goal is given in the form of LMIs. Finally, the simulation results are exhibited to illustrate the effectiveness of the designed protocols.