A Formation Control for Dynamical Agents in Digital Network

This paper investigates a formation control for dynamical agents in digital communication network. Each agent in the network is a continuous-time dynamics and the communication network is defined by a undirect graph. Under a linear control protocol the network of dynamical agents is described by a hybrid decentralized control system. We give the condition under which the agents in the network implement the consensus stability. Different from the agents under continuous-time communication network the agents in digital communication network may have some different asymptotical formations, i.e. aggregation, periodic oscillation and divergence, respectively. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.