Asymptotic Bounded Time-Varying Formation Control of Second-Order Discrete-Time Multi-Agent Systems

Abstract This paper investigates the time-varying formation control problems of second-order discrete-time multi-agent systems. First, a discrete-time time-varying formation control protocol is proposed, where the velocities of agents can be different. Then, the consensus-based method is employed to deal with the time-varying formation control problems, and the eigenvalue analysis method is used to derive the necessary and sufficient conditions for asymptotic bounded timevarying formation. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Keywords: asymptotic bounded time-varying formation, eigenvalue analysis method, multi-agent systems, second-order discrete-time systems