Multileader set aggregation control of multi-agent systems with communication delays
具有通信时延的跟随者–多领导者聚集控制

This paper considers a set aggregation control problem for continuous-time multi-agent systems guided by multiple leaders. It is assumed that each follower-agent can measure the relative states of its neighbors in a time-delay and directed communication channels. A neighbor-based control rule is designed to realize local control strategies for these continuous-time agents. By Lyapunov method and the linear matrix inequality technique, we derive sufficient conditions for all follower-agents to aggregate in a polytope region formed by the leaders. In addition, this result is extended to a more general case with time-delay and noise perturbation. Numerical examples are given to validate the correctness and effectiveness of the theoretical results.