Formation tracking of multi-agent systems with minimum-energy and intermittent communication constraints

This paper focuses on minimum-energy formation tracking design and analysis problems of multiagent systems with randomly switching topologies and aperiodic intermittent communication. The main feature is that the minimum energy consumption in the sense of the linear matrix inequality is realized during the formation control process. Firstly, the formation tracking control protocol is proposed, where the total energy consumption is considered. Then, minimum-energy formation tracking criteria are presented, which can be checked by the generalized eigenvalue method. Finally, an illustrative simulation is provided.