Distributed formation control for perturbed and delayed MASs with multiple dynamic leaders

This paper investigates the problem of distributed formation control for perturbed and delayed MASs (Multi-Agent Systems) with multiple dynamic leaders in directed topologies. Based on the established stable theory of stochastic delay differential equations, some sufficient conditions are obtained that allow the required formations to be gained at exponentially converging speeds with probability one for time-invariant formations, time-varying formations and time-varying formations for trajectory tracking under a special “multiple leaders” framework. The effectiveness of the proposed formation protocols are demonstrated by numerical simulation examples.