Multiple Dynamic Targets Formation Tracking for High-Order Nonlinear Multi-Agent Systems

The multiple dynamic targets formation tracking(MDTFT) problems for high-order nonlinear systems with undirected topologies are addressed. The aim is to make the states of multi-agents form a specified time-varying formation configuration, and to track the convex hull formed by the states of the multiple dynamic targets. Different from the well-informed agent that can obtain all the targets information in the existing papers, in this paper, a novel informed agent is considered. Agents and targets have more complex dynamical properties. To solve the MDTFT problem, a non-smooth control strategy based on signum function is proposed based on state-dependent time-varying coupling gains. The algorithm has been further improved to effectively handle the presence of an unknown bounded term in the dynamics of both the agent and the target. Simulation result is presented to illustrate the proposed algorithm.