The energy-limited time-varying formation control problem of second-order multiagent systems is addressed for both leaderless and leader-following communication topologies in this paper. Different from the previous results, the joint consideration of energy limitation and formation design is more challenging and practical. First, an ETVF control protocol is presented, and the total energy supply is pregiven and limited, which is more common in practical applications. Then, by an orthogonal transformation, the formation control problem is converted into the consensus stabilization problem for (...) second-order leaderless MAS, where sufficient conditions for the ETVF are derived by joint design of control gains and the total energy. At the same time, the explicit formula that forms the formation center function is obtained to depict the macroscopic movement of the multiagent system as a whole. Moreover, the proposed method is also extended to the leader-following communication structure. Finally, two examples are given to verify the effectiveness of our theoretical results. (shrink)

Due to the excellent approximation ability, the neural networks based control method is used to achieve adaptive consensus of the fractional-order uncertain nonlinear multiagent systems with external disturbance. The unknown nonlinear term and the external disturbance term in the systems are compensated by using the radial basis function neural networks method, a corresponding fractional-order adaption law is designed to approach the ideal neural network weight matrix of the unknown nonlinear terms, and a control law is designed eventually. According to the (...) designed Lyapunov candidate function and the fractional theory, the systems stability is proved, and the adaptive consensus can be guaranteed by using the designed control law. Finally, two simulations are shown to illustrate the validity of the obtained results. (shrink)

In this paper, the fixed-time practical bipartite tracking problem for the networked robotic systems with parametric uncertainties, input disturbances, and directed signed graphs is investigated. A new fixed-time estimator-based control algorithm for the NRSs is presented to address the abovementioned problem. By applying a sliding surface and the time base generator approach, a new stability analysis method is proposed to achieve the fixed-time practical bipartite tracking for the NRSs. We also derive the upper bound of the convergence time for employing (...) the presented control algorithm to solve the practical bipartite tracking problem and further demonstrate that the convergence time is independent of the initial value. Finally, the simulation examples are given to verify the effectiveness of the presented algorithms. (shrink)