[1]LAI Jingang,CHEN Shihua,LU Xiaoqing.Formation control for secondorder multiagent systems with timevarying delays[J].CAAI Transactions on Intelligent Systems,2012,7(2):135-141.
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Formation control for secondorder multiagent systems with timevarying delays

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 2 Page number: 135-141 Column: 学术论文—智能系统 Public date: 2012-04-25
Title:
Formation control for secondorder multiagent systems with timevarying delays
Author(s):
LAI Jin’gang1;  CHEN Shihua2;  LU Xiaoqing2
1. School of Automization, Wuhan University of Technology, Wuhan 430070, China;
2. School of Mathematics and Statistics, Wuhan University, Wuhan 430072, China
Keywords:
multiagent system;  timevarying delay;  directed topology;  formation control
CLC:
TP273
DOI:
-
Abstract:
The formation control problem for multiagent systems is one of the most serious network cooperation control problems. The formation control problem of secondorder multiagent systems with timevarying coupling delays in directed interaction topologies was investigated. Sufficient conditions were obtained for the attainment of both timeinvariant and timevarying formations as well as for timevarying formations for trajectory tracking by using a special multileader framework that attained the formations at exponentially converging speeds. Some numerical simulations were also conducted to validate the theoretical results in order to develop practical applications. 
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