Energy-Constraint Adaptive Time-Varying Formation Tracking for Multi-Agent Systems With Multiple Leaders and Bounded Unknown Inputs.

This paper discusses the adaptive multiple leaders time-varying formation tracking control (TVFTC) problem for multi-agent systems (MASs) with energy constraints and bounded unknown inputs. To begin with, a novel formation control algorithm with the distributed adaptive time-varying formation is deployed based on the states between neighboring agents. Then, the energy consumption function is constructed to calculate the energy consumption of the TVFTC with multiple leaders of MASs and the maximum energy supply value. Moreover, the convergence of the formation tracking error with the energy constraints is assured with respect to the linear matrix inequality (LMI) method and Lyapunov theory. Ultimately, the simulation results well validate the correctness of the theoretical results.