In this article, the formation control is investigated for a network of second-order dynamic agents with heterogeneous communication delays. The desired stationary formation is achieved by introducing diverse self-delay for each agent. In addition, a delay-dependent formation control algorithm is proposed to achieve the desired moving formation. Based on the frequency-domain analysis and matrix theory, sufficient conditions are obtained for the multi-agent systems asymptotically converging to desired stationary and moving formations, respectively. Simulation results illustrate the correctness of the results.
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Liu et al. (2009) studied this question.
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