Formation Control of Second-Order Multiagent Systems with Time-Varying Delays
A formation control problem for second-order multiagent systems with time-varying delays is considered. First, a leader-following consensus protocol is proposed for theoretical preparation. With the help of Lyapunov-Krasovskii functional, a sufficient condition under this protocol is derived for sta...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2014-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/764580 |
| Summary: | A formation control problem for second-order multiagent
systems with time-varying delays is considered. First, a leader-following consensus
protocol is proposed for theoretical preparation. With the help of
Lyapunov-Krasovskii functional, a sufficient condition under this protocol is
derived for stability of the multiagent systems. Then, the protocol is extended
to the formation control based on a multiple leaders’ architecture. It
is shown that the agents will attain the expected formation. Finally, some
simulations are provided to demonstrate the effectiveness of our theoretical
results. |
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| ISSN: | 1024-123X 1563-5147 |