Formation tracking of fractional-order multi-agent systems based on error predictor

In this paper, formation tracking problem of fractional-order multi-agent systems is studied under fixed directed communication graph. Firstly, a control law based on error predictor is proposed to achieve formation tracking. Then, the effectiveness of the control law is proved by using matrix theory, graph theory and fractional-order theory. It is shown that the formation tracking can be achieved by using the proposed control law if and only if the directed communication graph among agents has a directed spanning tree. Finally, based on the numerical method, several simulations are given to illustrate the effectiveness of the obtained results.