Formation control for nonlinear multi-agent systems with diverse time-varying delays and uncertain topologies
Hefu Luo, Shiguo Peng · 2017
A leader-following distributed formation control problem for a class of second order nonlinear multi-agent systems (MAS) with diverse time-varying delays and uncertain topologies is discussed in this paper. By proposing a distributed protocol, employing Lyapunov-Krasovskii theory and introducing free-weighted matrix, several feasible linear matrix inequalities (LMIs) are presented to determine maximal allowable time-varying communication delays. We prove that all agents with a globally jointly-reachable leader can achieve expected formation. Finally, numerical examples are provided to illustrate the obtained results.