Zhang Ren

TL;DR: Time-varying formation tracking analysis and design problems for second-order Multi-Agent systems with switching interaction topologies are studied, and a formation tracking protocol is constructed based on the relative information of the neighboring agents.

TL;DR: Based on the common Lyapunov functional approach and algebraic Riccati equation technique, an approach to design the formation protocol is presented in this paper, where an explicit expression of the formation reference function is derived to describe the macroscopic movement of the whole UAV formation.

TL;DR: A distributed formation-containment protocol for the multi-UAV system using local neighboring information is proposed and it is proven that the states of followers not only converge to the convex hull formed by those of leaders but also keep certain formation specified by the conveX combination of the formation for the leaders.

TL;DR: The stability of the closed-loop multiagent system is proven by using the Lyapunov theory by investigating practical time-varying formation tracking problems for second-order nonlinear multiagent systems with multiple leaders using adaptive neural networks.

TL;DR: It is proved that the expected TVOF tracking can be accomplished by the heterogeneous multiagent systems in the presence of the leader's unknown input and a continuous TVOFtracking protocol with $\sigma$-modification adaptive law is proposed to avoid the large chattering phenomenon.