Formation control for multi-agent systems with diverse communication and input delays

In this paper, we consider a formation control problem for single-integrator multi-agent systems with diverse communication and input time delays. First, a consensus tracking protocol and diverse time coupling delays is proposed, and a sufficient condition under this protocol is given for stability of the multi-agent systems. Then, by using a special multiple leaders' architecture, a formation control protocol is presented and sufficient conditions are obtained for time-varying formations for trajectory tracking. It is shown that the agents will achieve and maintain the expectation formation. Finally, some numerical simulations are provided to validate the effectiveness of our theoretical result.