Journal of Systems Engineering and Electronics ›› 2011, Vol. 22 ›› Issue (6): 991-997.doi: 10.3969/j.issn.1004-4132.2011.06.016

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Leader-following consensus protocols for formation control of multi-agent network

Xiaoyuan Luo1,*, Nani Han2, and Xinping Guan2   

  1. 1. School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, P. R. China;
    2. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, P. R. China
  • Online:2011-12-21 Published:2010-01-03


Two protocols are presented, which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network. First, the protocol without considering the communication time-delay is presented, and by using Lyapunov stability theory, the sufficient condition of stability for this multi-agent system is presented. Further, considering the communication time-delay, the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated. The main contribution of the proposed protocols is that, as well as the velocity consensus is considered, the formation control is concerned for multi-agent systems described as the second-order equations. Finally, numerical examples are presented to illustrate the effectiveness of the proposed protocols.