Distributed Delayed Impulsive Formation of Second-Order Multi-agent Systems with Switching Topologies

This chapter discusses the formation of second-order multi-agent systems (MASs) with switching topologies via delayed impulsive control. The key issue is how to design an appropriate impulsive algorithm to realize a desired geometric formation between neighboring nodes. Firstly, the distributed impulsive protocol is designed for the follower agents. Then, by using the stability theory, some conditions are derived to ensure the formation of MASs. Finally, some numerical examples illustrate the effectiveness of the results in this chapter.