Formation Tracking of Second-Order Multi-Agent Systems With Multiple Leaders Based on Sampled Data

This brief investigates formation tracking of second-order multi-agent systems with multiple leaders on a directed communication topology based on sampled data. Specifically, with communication among agents only occurring at discrete instants, a formation control protocol based on sampled information is proposed to reduce communication consumption. Then, a sufficient condition regarding the sampling period and the gain is derived to guarantee that the followers ultimately achieve the desired formation, the reference function of the followers is in the convex hull formed by the leaders, and the velocities of all agents asymptotically reach the desired one. Finally, simulations are presented to verify the effectiveness of the theoretical result.