We derive necessary and sufficient conditions for leader-follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation while satisfying certain transient constraints. A leader-follower framework is considered in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system can achieve target formation within certain prescribed performance transient bounds. We first derive necessary conditions on the leader-follower graph topology under which the target formation together with the prescribed performance guarantees can be fulfilled. Afterwards, the derived necessary conditions are extended to necessary and sufficient conditions for leader-follower formation control under transient constraints. Finally, the proposed results are illustrated with simulation examples.

ISIS-II takes a heuristic search approach to generating schedules. The key features of ISIS-II's approach is that it can represent and use a variety of different types of constraints to guide the search, and is able to selectively relax conflicting constraints. The plant under consideration** represents one of the most complex of scheduling tasks. The plant produces thousands of different parts,some of which are similar, some of which are not. Any part can be ordered in quantities from one to hundreds.