LAUSR

This brief is concerned with the time-varying formation problem for second-order networked multi-agent systems, which are subject to random communication delays and packet dropouts in the sensor-to-controller and controller-to-actuator channels of each agent. A cloud-based time-varying formation predictive control method with control input quantization is proposed to actively compensate for those random communication constraints. A definition of quantized time-varying formation is given, and then a necessary and sufficient condition to achieve the quantized time-varying formation as well as the stability of the resulting closed-loop system is obtained, which is independent of random communication constraints and quantization errors. Simulation results are provided to verify the effectiveness of the proposed method.