Coordinated tracking control of multi-agent system with time-delay and partly intermittent information transmission

Coordinated tracking control problem is investigated for nonlinear multi-agent systems with time-delay and partly intermittent information transmission in this paper. When the directed communication topology has a spanning tree, the coordinated tracking control problem can be solved. The proposed delayed and partly intermittent coordinated tracking protocol can guarantee that each follower can track the leader and keep a desired formation. Then, by means of the graph theory and Lyapunov control approach, it is proved that under time-delay and partly intermittent information transmission, the coordinated tracking control system can achieve the exponential stability. Finally, simulation examples are given to verify the validity of the coordinated control algorithm.

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