Practical Fixed- Time Circle Formation Control for Multi-agent Systems with Network-induced Delay

Peng Xu, Jin Tao*, Qinglin Sun, Guangming Xie, Minyi Xu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

1 Citation (Scopus)


This paper addresses a practical fixed-time circle formation control problem for multi-agent systems subject to network-induced delay. To solve this problem, a novel control protocol, based on a time base generator, is developed to reach the practical fixed-time circle formation control, where the settling time is predetermined without relying on initial states, and the magnitude of initial control input is smaller than other conventional circle formation strategies. Moreover, a Lyapunov functional is constructed, which allows deriving a sufficient stability condition on the fixed-time circle formation. At last, numerical simulations are given to demonstrate the effectiveness of the proposed control law.

Original languageEnglish
Title of host publicationProceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
Number of pages6
ISBN (Electronic)978-1-6654-4089-9
Publication statusPublished - 2021
MoE publication typeA4 Conference publication
EventChinese Control and Decision Conference - Kunming, China
Duration: 22 May 202124 May 2021
Conference number: 33

Publication series

NameChinese control and decision conference
ISSN (Electronic)1948-9447


ConferenceChinese Control and Decision Conference
Abbreviated title CCDC


  • Intermittent Communication
  • Multi-agent Systems
  • Practical Circle Formation
  • Time Base Generators


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