Formation Tracking Control for Multi-agent Systems on Directed Graphs

Time-varying formation tracking problem for single-integrator multi-agent system with one leader and several followers on directed graphs are investigated. The followers need to achieve predefined time-varying formation while tracking the leader with unknown control input. Firstly, a time-varying formation tracking control protocol is designed by using neighbor information. Then based on the Lyapunov theory, a proof that the multi-agent systems can achieve the desired time-varying formation tracking is given. Furthermore, a simulation example of formation tracking motion of multi-agent systems composed of three followers and one leader under designed protocol is given. Finally, the protocol is applied to a unmanned ground vehicle(UGV) systems composed of one leader and three followers to demonstrate the effectiveness of the theoretical results.