On Exponential Convergence of Coordination Learning Control for Multi-agent Formation ⋆

The exponential convergence problem is studied for coordination learning control of multi-agent formation under the switching network topology. A necessary and sufficient condition on exponential convergence is presented for coordination learning control algorithms of multi-agent formation tasks without any reference as prior knowledge. Moreover, it is shown that the developed results are effective for agents with higher-order dynamics. Numerical simulations are performed to illustrate the coordination learning performance of networked agents.