Formation control via quasi-time optimal protocol

The problem of formation control is considered. The dynamics of an agent are described as a Lagrangian system without/with internal dynamic of controller. A quasi-time-optimal decentralized control law is proposed for synchronization of networked agents. Construction of the formation is to be completed in finite time using signum control protocols. During the motion, the formation follows a leader, real or virtual. Every agent determines relative position, velocity and acceleration of its neighbors, links between which are determinated by a time-stable directed tree. Theoretical results are illustrated by numerical examples.