Time-varying formation tracking control for high-order multi-agent systems with switching directed topologies and unknown control input

Time-varying group formation tracking problems for high-order multi-agent systems with switching topologies and unknown input are studied. Agents are divided into subgroups to achieve desired time-varying subformations with switched topologies and track leaders with unknown control input. Firstly, a time-varying formation tracking protocol is designed using local relative information of agents and their neighbors, which can deal with topology switching and compensate the unknown input of leaders. Then an algorithm to obtain the parameters of control protocols is introduced. Based on the common Lyapunov theory, it is proved that the expected group formation tracking can be achieved by high-order multi-agent systems with switching directed graphs. A numerical simulation is presented to demonstrate the effectiveness of the theoretical results.

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