Finite-time formation control of multiagent systems via dynamic output feedback


Correspondence to: Shihua Li, School of Automation, Southeast University, Nanjing, Jiangsu 210096, China.



Finite-time formation control of multiple second-order agents via dynamic output feedback is investigated in this paper. Under the assumption that the velocities of all agents cannot be measured, a continuous consensus algorithm is first proposed such that the states of all agents will reach an agreement in finite time. Then, the consensus algorithm is applied to the finite-time formation control, including stationary formation and moving formation, respectively. Rigorous proof shows that all agents will converge to the desired formation pattern in finite time. Finally, an example is given to verify the efficiency of the proposed method. Copyright © 2012 John Wiley & Sons, Ltd.