Bipartite formation problem of second-order nonlinear multi-agent systems with hybrid impulses

In this paper, bipartite formation of second-order nonlinear multi-agent systems (MASs) with hybrid impulses is investigated. At first, state-feedback controllers and impulsive protocols are designed for second-order MASs based on the definition of bipartite formation. Secondly, with the aid of average impulsive interval and average impulsive gain, the design criterion of bipartite formation control protocol is derived such that second-order nonlinear MASs with hybrid impulses can realize bipartite formation. Furthermore, adaptive control is also addressed for second-order MASs with unknown nonlinear terms and the corresponding result is derived. Finally, the validity of the theoretical results is illustrated by two numerical simulations. (C) 2019 Elsevier Inc. All rights reserved.