Collision-free second-order vehicle formation control under time-varying network topology

Time-Varying Formation Control for Second-Order Discrete-Time Multi-Agent Systems With Directed Topology and Communication Delay

“…Based on Definition 1, ς (t) represents the time-varying formation error, that is the formation is achieved if and only if ς (t) → 0 as t → +∞ for any initial condition ς (t), t ∈ [t 0 − τ, t 0 ]. From (12), it holds that ς (t) converges to zero if and only if the system described by ( 6) is asymptotically stable and…”

Time‐varying formation of second‐order discrete‐time multi‐agent systems under non‐uniform communication delays and switching topology with application to UAV formation flying

“…Formation control problems for multi‐agent systems with first‐order [6–8], second‐order [9–12], and high‐order [13] dynamics have been extensively studied. However, these researches focus on the fixed formation problem.…”

“…Using four quadrotor UAVs, two experiments are given to verify the effectiveness and reliability of the proposed formation protocol. In [6–13, 22–29], and [32, 33, 35, 44, 53], the proposed formation protocols are only verified by numerical simulations.…”

Distributed cooperative control for multiple photovoltaic generators in distribution power system under event-triggered mechanism

“…The distributed cooperative control method has been intensively studied in multi-agent system, the typical topics of which include consensus [3,4,5,6], formation control [7,8,9], and flocking [10,11,12]. To realize the distributed cooperative control for multiple DGs, a multi-agent system based architecture can be employed.…”