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Time-Varying Formation Control for Time-Delayed Multi-Agent Systems with General Linear Dynamics and Switching Topologies

School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, P. R. China

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Jianglong Yu

School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, P. R. China

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Rui Wang

Department of Electrical and Computer Engineering, University of Toronto, ON M5S 3G4, Canada

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Xiwang Dong

School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, P. R. China

E-mail Address: xwdong@buaa.edu.cn

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Qingdong Li

School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, P. R. China

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, and

Zhang Ren

School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, P. R. China

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https://doi.org/10.1142/S2301385019400016Cited by:33 (Source: Crossref)

This article is part of the issue:

Special Issue on New Advances on Formation Control of Autonomous Vehicles; Guest Editors: Shiyu Zhao, Ziyang Meng, Ronghao Zheng and Zhengtao Ding

Abstract

Time-varying formation analysis and design problems for general linear multi-agent systems with switching interaction topologies and time-varying delays are studied. Firstly, a consensus-based formation control protocol is constructed using local information of the neighboring agents. An algorithm with three steps is presented to design the proposed formation control protocol. Then, based on linear matrix inequality technique and common Lyapunove–Krasovskii stability theory, sufficient conditions for general linear multi-agent systems with switching topologies and time-varying delays to achieve time-varying formation are given together with a time-varying formation feasibility condition. Finally, a numerical simulation is given to demonstrate the effectiveness of the obtained theoretical results.

This paper was recommended for publication in its revised form by editorial board members, Shiyu Zhao, Ziyang Meng, Ronghao Zheng and Zhengtao Ding.

Keywords:

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