In this paper, time-varying formation tracking problem for second-order nonlinear multi-agent systems with time-varying communication delays has been investigated, where the followers maintain a predefined time-varying formation while tracking the moving leader. Based on a distributed observer, a formation tracking protocol with time-varying delay is developed using the relative neighboring information. By constructing the Lyapunov-Krasovskii (L-K) function, sufficient conditions have been obtained to guarantee the stability of time-varying formation tracking. In addition, the unknown gain matrix in the proposed protocol is computed out through the technique of variable substitution. Numerical simulation results are presented to validate the effectiveness of our theoretical analysis.
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Ming Wang received his B.S. degree in aircraft design and engineering from Xi’an Jiaotong University in 2017. He is currently working toward the Ph.D. degree in the University of Chinese Academy of Sciences, Beijing, where he majors in technology of computer. His research interests include nonlinear system control, reinforcement learning and multi-agent systems.
Tao Zhang received his B.S. and Ph.D. degrees in power engineering and control from Tsinghua University, Beijing, China, in 1995 and 2000, respectively. He is a Researcher and the Director of Department and Division, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing. His research interests include testing and verification technology for high reliability software, analysis and design method for high reliability electronic information system, simulation of complex system, the overall design of the space application system, and virtual reality technique.
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Wang, M., Zhang, T. Leader-following Formation Control of Second-order Nonlinear Systems with Time-varying Communication Delay. Int. J. Control Autom. Syst. (2021). https://doi.org/10.1007/s12555-019-0759-0
- Distributed observer
- formation tracking control
- linear matrix inequality
- second-order nonlinear system
- time-varying delay