Formation tracking control for second-order multi-agent systems with time-varying delays

In this paper, formation tracking control problems for second-order multi-agent systems (MASs) with one leader and time-varying delays are studied, where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. Formation tracking control protocols with time-varying delays using neighboring position and full state information are given. Sufficient conditions for second-order MASs with one leader and time-varying delays to realize formation tracking are presented. Numerical simulations are provided to demonstrate the feasibility of the theoretical results.

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