Control of synchronization for multi-agent systems in acceleration motion with additional analysis of formation control

The synchronization control of multi-agent systems plays a significant role in military and civil applications. This paper investigates the acceleration motion of multi-agent systems unlike other synchronization protocols, we introduce the constant value into the protocol, which acts as the acceleration of the agents. Furthermore, we expand the acceleration protocol into the formation control protocol, by which the multi-agents can achieve the desired formations. Simulations are provided for both protocols, and additionally we adopt the Amigobots as our experiment environment to verify our theoretical results. Compared with the Matlab simulations, we conclude that, under the proposed protocols, the system goes to acceleration synchronization or desired formation with acceptable error.