Formation Control for Time-delayed Second-order Multi-agent Systems with Switching Topology

Formation control problems for time-delayed second-order multi-agent systems with switching topology are investigated in this study. A formation control protocol with time delays and switching topology is presented. A specific expression of the time-varying formation reference function is given to indicate the movement of the formation. Sufficient conditions for time-delayed second-order multi-agent systems with switching topology to achieve time-varying formation are given. Numerical examples are given to show the effectiveness of the presented results.

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