Time-varying formation control of singular multi-agent systems with multiple leaders

The time-varying formation control of singular multi-agent systems is investigated in this paper, where the formation contains multiple leaders and the information communication topology is directed. The follower agents form a time-varying formation around the centre of the convex combination of the leader states. Firstly, a practical distributed protocol based on only the relative measurement outputs and extended formation function is designed. Then, the necessary and sufficient conditions for the time-varying formation control under the proposed distributed protocol are proven. Furthermore, based on the admissible analysis of singular multiagent systems, the algorithm for solving distributed protocol is given. Finally, simulation results of time-varying formation are presented to illustrate the feasibility and effectiveness of the proposed techniques.