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Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics

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Abstract

In this paper, the leader-following formation control problem for second-order multiagent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies, fixed topology and switching topology, are analyzed. Based on the Lyapunov theory combined with the linear matrix inequality (LMI) method, sufficient conditions in terms of LMIs are given to ensure the multiagent systems can reach and maintain the desired formation. The simulation results are provided to demonstrate the effectiveness of the obtained theory results.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (Nos. 61174094, 60904064), Specialized Research Fund for the Doctoral Program of Higher Education (No. 20090031110029), the Program for New Century Excellent Talents in University of China (NCET-10-0506).

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Correspondence to Weixun Li.

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Li, W., Chen, Z. & Liu, Z. Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics. Nonlinear Dyn 72, 803–812 (2013). https://doi.org/10.1007/s11071-013-0754-6

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  • DOI: https://doi.org/10.1007/s11071-013-0754-6

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