Formation Control for High-Order Linear Time-Invariant Multiagent Systems With Time Delays

Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

“…The formation feasibility condition (9) can be checked in a way similar to the linear multagent systems counterpart in [22]. LetB = [B T ,B T ] T be a nonsingular matrix withB ∈ R m×n and B ∈ R (n−m)×n such thatBB = I andBB = 0.…”

“…A survey on various classifications of formation control is given in [18]. Consensus based formation control strategies have also been investigated [19][20][21][22][23][24][25]. The role of Laplacian eigenvalues in determining formation stability is investigated in [19].…”

“…In reality, some practical physical systems cannot be feedback linearised as first or second-order dynamical model. Formation control for a class of high-order linear multi-agent systems with time delays are studied in [22]. The applications of formation control in various areas could be found in [23][24][25].…”

Formation-containment control for high-order linear time-invariant multi-agent systems with time delays

“…Porfiri et al [23] discussed formation and tracking control problems for high-order LTI multi-agent systems simultaneously using a consensus based approach. Necessary and sufficient conditions for high-order multiagent systems to achieve time-invariant and time-varying formations were proposed in [24,25].…”

“…Firstly, multiple leaders are required to achieve time-varying formations and followers should converge to the convex hull spanned by the leaders. In [22][23][24][25], there are not multiple leaders and only formation control problems were studied. Secondly, containment problems for multi-agent systems were discussed in [13][14][15][16][17][18][19][20][21], and it was assumed that leaders do not interact with each other to achieve timevarying formations.…”