In this paper, circular formation tracking control problems for time-delayed second-order multi-agent systems (MASs) with multiple leaders are studied, where the state of followers are designed to form a circular formation while tracking the average state of the multiple leaders. A circular formation tracking control protocol with time-varying delays is proposed. Sufficient conditions for time-delayed second-order MASs with multiple leaders to realize circular formation tracking are given. The presented results can be applied to target enclosing problem for multiple unmanned aerial vehicles (UAVs) with a group of targets and time-varying delays. Numerical examples on target enclosing are provided to demonstrate the feasibility of the theoretical results.
Circular formation tracking control for time-delayed second-order multi-agent systems with multiple leaders
2016-08-01
410437 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Formation Problem of Second-Order Multi-agent Systems with Input Delay and Communication Delay
Springer Verlag | 2017
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