Multiple leaders formation tracking with switching topology and aperiodic sampled data under intermittent control scheme

This article studies the problem of second-order formation tracking with multiple leaders under intermittent control scheme in stochastic multi-agent networked systems. Based on the aperiodic sampled data, the formation tracking control protocol is proposed by considering switching topology and the time-varying transmission delay of information interaction between each agent. Using the algebraic graph theory, stochastic systems theory, Lyapunov theory, and Halanay inequality, the sufficient conditions of mean square stability for formation tracking with multiple leaders are obtained. To further alleviate the computation resources of the controller, the intermittent control strategy is proposed. Meanwhile, a novel stability analysis method for intermittent control is introduced based on an auxiliary system and comparison principle. Furthermore, the lower bound of the duty cycle for a certain control period is obtained and the desired formation mode is also reached under the designed intermittent control scheme. Finally, numerical examples are given to verify the correctness and effectiveness of the proposed methods.