In order to improve the robustness of the formation system and reduce the system demands for communication conditions

concerning the formation control problem of multi-agent systems

a control approach is proposed based on impulsive control for the formation control problem of heterogeneous multi-agent systems. Considering problems in multi-agent systems with switching topology and time-varying delays

an impulsive control algorithm is proposed based upon leader-following models by using the consensus theory. In formation control of heterogeneous multi-agent systems

the time-varying delays problem is transformed into the upper bound of time-delays problem by the matrix theory. A Lyapunov function is constructed. By the Lyapunov theory

a sufficient condition for solving the formation control problem of heterogeneous multi-agent systems is obtained. Aiming to compare the control protocol with others

the average communication cost index of multi-agent systems with switching topology is proposed. The simulation results illustrate the validity and the superiority of the proposed impulsive control approach.