LAUSR

Abstract This paper addresses multi-group formation tracking (MGFT) control problems for second-order nonlinear multi-agent systems (MASs) with multiple leaders via distributed impulsive control methods. The objective is to design formation tracking protocols such that agents divide into multiple subgroups with following different leaders while maintaining desired sub-formation configurations. Distributed impulsive control protocols are proposed for MGFT control of second-order nonlinear MASs without and with the input delay. In these protocols, information exchanges among agents are only transmitted at impulsive instants. Based on the Lyapunov stability theory, some sufficient conditions are established to ensure that MASs are globally exponentially stable with and without the input delay, respectively. Examples are given to show the effectiveness of our theoretical results.