Formation Control of Second-Order Multiagent Systems with Time-Varying Delays

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="764580.fig.004a" src="https://static.hindawi.com/articles/mpe/volume-2014/764580/figures/764580.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Without velocity transmission delays</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="764580.fig.004b" src="https://static.hindawi.com/articles/mpe/volume-2014/764580/figures/764580.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>With velocity transmission delays</td></tr></table></td></tr></table>

<table>The position errors of agents in TVFT.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Formation Control of Second-Order Multiagent Systems with Time-Varying Delays 