Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology

Qixiu Duan; Yu Zhao; Yongfang Liu

doi:10.1109/IECON.2017.8216997

Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology

Qixiu Duan, Yu Zhao, Yongfang Liu

School of Automation

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper studied the distributed adaptive time-varying formation problem for general linear multi-agent systems over a directed topology. First of all, some conditions to achieve distributed time-varying formations are given, which describe a feasible time-varying formation set. Second, a distributed adaptive algorithm is proposed for achieving fully distributed time-varying formation, which is independent of any global information. By analyzing the Lyapunov stability, we prove that the proposed distributed adaptive algorithm can guarantee the multiple agents achieving the required time-varying formation. Finally, a numerical example is given to verify the theoretical results.

Original language	English
Title of host publication	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5749-5754
Number of pages	6
ISBN (Electronic)	9781538611272
DOIs	https://doi.org/10.1109/IECON.2017.8216997
State	Published - 15 Dec 2017
Event	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China Duration: 29 Oct 2017 → 1 Nov 2017

Publication series

Name	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Volume	2017-January

Conference

Conference	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Country/Territory	China
City	Beijing
Period	29/10/17 → 1/11/17

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10.1109/IECON.2017.8216997

Cite this

Duan, Q., Zhao, Y., & Liu, Y. (2017). Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (pp. 5749-5754). (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8216997

Duan, Qixiu ; Zhao, Yu ; Liu, Yongfang. / Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 5749-5754 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society).

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title = "Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology",

abstract = "This paper studied the distributed adaptive time-varying formation problem for general linear multi-agent systems over a directed topology. First of all, some conditions to achieve distributed time-varying formations are given, which describe a feasible time-varying formation set. Second, a distributed adaptive algorithm is proposed for achieving fully distributed time-varying formation, which is independent of any global information. By analyzing the Lyapunov stability, we prove that the proposed distributed adaptive algorithm can guarantee the multiple agents achieving the required time-varying formation. Finally, a numerical example is given to verify the theoretical results.",

author = "Qixiu Duan and Yu Zhao and Yongfang Liu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 ; Conference date: 29-10-2017 Through 01-11-2017",

year = "2017",

month = dec,

day = "15",

doi = "10.1109/IECON.2017.8216997",

language = "英语",

series = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5749--5754",

booktitle = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

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Duan, Q, Zhao, Y & Liu, Y 2017, Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology. in Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 5749-5754, 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, Beijing, China, 29/10/17. https://doi.org/10.1109/IECON.2017.8216997

Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology. / Duan, Qixiu; Zhao, Yu; Liu, Yongfang.
Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. p. 5749-5754 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2017/12/15

Y1 - 2017/12/15

N2 - This paper studied the distributed adaptive time-varying formation problem for general linear multi-agent systems over a directed topology. First of all, some conditions to achieve distributed time-varying formations are given, which describe a feasible time-varying formation set. Second, a distributed adaptive algorithm is proposed for achieving fully distributed time-varying formation, which is independent of any global information. By analyzing the Lyapunov stability, we prove that the proposed distributed adaptive algorithm can guarantee the multiple agents achieving the required time-varying formation. Finally, a numerical example is given to verify the theoretical results.

AB - This paper studied the distributed adaptive time-varying formation problem for general linear multi-agent systems over a directed topology. First of all, some conditions to achieve distributed time-varying formations are given, which describe a feasible time-varying formation set. Second, a distributed adaptive algorithm is proposed for achieving fully distributed time-varying formation, which is independent of any global information. By analyzing the Lyapunov stability, we prove that the proposed distributed adaptive algorithm can guarantee the multiple agents achieving the required time-varying formation. Finally, a numerical example is given to verify the theoretical results.

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Duan Q, Zhao Y, Liu Y. Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2017. p. 5749-5754. (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2017.8216997

Distributed adaptive time-varying formation for multiple linear dynamical systems over a directed topology

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