Title: Bearing-based formation manoeuvring control of multi-agent systems with constant communication delays

Authors: Jianing Zhao; Xiao Yu

Addresses: Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China ' Department of Automation, Xiamen University, Xiamen, 361005, Fujian, China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China

Abstract: This paper investigates the bearing-based formation manoeuvring control problem of multi-agent systems with constant communication delays. Leaders move with time-varying velocities, and followers aim to track leaders' motion and form a bearing-defined moving desired formation. A dynamic controller for each follower is developed based on its position, velocity, its neighbours' position, velocity, acceleration. The motion information of neighbours is obtained via communication, and communication delays are taken into account. Then a rigorous proof is provided to show that tracking errors of the neutral-type system are globally uniformly ultimately bounded. Finally, simulation results are presented to illustrate the effectiveness.

Keywords: multi-agent systems; bearing-based formation control; tracking; communication delays.

DOI: 10.1504/IJSCIP.2020.114275

International Journal of System Control and Information Processing, 2020 Vol.3 No.2, pp.114 - 128

Received: 03 Sep 2020
Accepted: 10 Oct 2020

Published online: 28 Mar 2021 *

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