Formation Tracking Control of Networked Systems With Time-Varying Delays and Sampling Under Fixed and Markovian Switching Topology

This article studies the formation tracking control (FTC) of nonlinear second-order leader–following multiagent systems (LFMASs) with time-varying delays and periodic sampling. The FTC protocols based on position and velocity information of neighbor agents and measurable communication noise in fixed and Markovian switching directed topology are proposed. Some sufficient conditions are obtained to reach formation tracking by using the algebraic graph theory and generalized Halanay inequality. Meanwhile, the upper bound of formation-able time-varying delays
$\bar{\tau }$
is obtained. Results show that the LFMASs can achieve formation tracking in mean-square exponential stability as well as almost sure exponential stability under the proposed control algorithms. Finally, the availability of the theoretical results is verified by numerical simulation.