A formation control algorithm is proposed for second-order multi-agent systems with dynamic leaders.By controlling the on-off of the communication signal between the leader and the follower,the limited-time formation control of each agent in the multi-agent system is realized.Among them,formation control is di-vided into four processes:containment control,containment consistency control,grouping consistency control,and consistency control.Then,the rationality of the formation control algorithm is proved by Lyapunov theoretical analysis and the homogeneous finite time stability theorem.Finally,the effectiveness of the designed algorithm is further verified by simulation.
关键词
多智能体/编队控制/有限时间/包容控制/分组一致性
Key words
Multi-agent/formation control/finite time/containment control/grouping consistency control
维普
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