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.


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    Title :

    Circular formation tracking control for time-delayed second-order multi-agent systems with multiple leaders


    Contributors:
    Liang Han (author) / Dong, Xiwang (author) / Ke Yi (author) / Qingke Tan (author) / Qingdong Li (author) / Zhang Ren (author)


    Publication date :

    2016-08-01


    Size :

    410437 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English