Fully distributed adaptive time-varying formation control of singular multiagent systems

This paper addresses the fully distributed adaptive time-varying formation protocols design problem for singular multiagent systems with directed topology. The pinning control method is introduced into the design of the adaptive distributed protocols, which can effectively adjust the formation position among agents and greatly relax the constraints of the communication topology among agents. Then, the distributed algorithm that independent of the global information of the communication graph is designed to solve the proposed fully distributed protocols. Next, the sufficient conditions of time-varying formation control are provided by the feedback pulse elimination method and stability analysis. Finally, the time-varying formation simulation results are presented to verify the feasibility of the proposed theory.