Affine transformation based formation maneuvering for discrete-time directed networked systems

Yang Xu, De Lin Luo, Yan Cheng You, Hai Bin Duan

Research output: Contribution to journalArticlepeer-review

19 Scopus citations

Abstract

For the tracking control problems of affine formation maneuvers with discrete leader-following multi-agent systems, various distributed control schemes based on the directed graphs are designed in this paper. Consider the single and double-integrator models, different types of formation maneuvers can be achieved subject to the states of leaders with the novel characteristic of affine localizability. Meanwhile, the properties of affine transformation and signed Laplacian are introduced, which simplify the structures of controllers with distinct constraints to a great extent. Moreover, the convergence analysis of proposed protocols is proven. Static, constant and time-varying target formations can be tracked successfully. In the end, corresponding numerical simulations are carried out to certify the validity of theoretical results.

Original languageEnglish
Pages (from-to)73-85
Number of pages13
JournalScience China Technological Sciences
Volume63
Issue number1
DOIs
StatePublished - 1 Jan 2020
Externally publishedYes

Keywords

  • affine formation maneuver
  • directed graph
  • discrete systems
  • multi-agent systems
  • signed Laplacian

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