Finite-time time-varying group formation tracking for second-order multiagent systems by continuous integral sliding mode

This paper investigates finite-time time-varying group formation (FT-TVGF) tracking control problems for second-order multiagent systems (MASs) with disturbances and directed topologies. A new method to solve FT-TVGF tracking control problems is provided. The agents in MASs are divided into three types including the virtual leader, the group leader and the follower. The overall movement of MASs can be controlled by the virtual leader. Collaborations among subgroups can be realized by communications among group leaders. Followers achieve the desired time-varying group formation. Moreover, the directed topologies are considered to save communication bandwidth and a continuous integral sliding mode control protocol is presented to suppress disturbances and eliminate chattering caused by disturbances. The stability of MASs is proven based on Lyapunov theory. Finally, numerical simulation examples are designed to validated the effectiveness of theoretical results.