This paper proposes a formation control algorithm based on the consensus theory for a multi-agent system model of secondorder dynamic characteristic in the case of communication delay and time-varying formation configuration. Firstly, the time-varying formation control problem is transformed into an asymptotically stable problem of the closed-loop system. Secondly, a Lyapunov-Krasovskii function is constructed and a sufficient condition for the stability of multi-agent formation system is given in terms of linear matrix inequality (LMI). Finally, simulation is carried out with the multi-agent system being regarded as a mass point. Results show that when the communication delay and control protocol parameters meet the stability condition, the proposed formation control algorithm can produce a desired time-varying formation.

time delay  /  unmanned aerial vehicle  /  time-varying formation  /  linear matrix inequality