Finite time time-varying formation tracking for second-order multiagent systems with prescribed transient performance

摘要

This paper studies the finite time output formation tracking for a class of second-order multiagent systems subject to prescribed transient performance. The considered leader-follower time-varying formation tracking is realized under a directed communication topology. First, a performance function is introduced into a time-varying barrier Lyapunov function (TV-BLF) for the purpose of shaping the transient behavior. Then, based on the TV-BLF and adding a power integrator technology, a distributed formation control law is constructed such that all followers can form a predefined formation pattern while tracking the leader in finite time with satisfied transient performance. Moreover, a robust term is designed in the proposed controller to improve the disturbance rejection capability of the formation system. Finally, a simulation example is carried out to verify the effectiveness and superiority of the presented formation control protocol.