Formation-containment control of second-order multi-agent systems with time delays
Maodong Xia, Cheng‐Lin Liu, Fei Liu · 2017
Formation-containment control problem is investigated for the second-order multi-agent systems with distinct time-varying delays. By using Lyapunov-Krasovskii functional and linear matrix inequality, delay-dependent sufficient conditions are obtained for the leaders reaching a prescribed formation and the followers converging into the convex hull formed by leaders, respectively. Moreover, the correctness of control strategies is illustrated by numerical simulations.