Finite time formation control for multi-agent systems with event-triggered control scheme

Ding Zhou, An Zhang, Wenhao Bi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In this paper, finite time formation control problems with fixed topology and switching topologies are addressed. To reduce unnecessary energy consumption and frequency of con-troller’s update, a distributed finite time consensus algorithm is designed by employing event-triggered control and a triggering function is constructed. Rigorous proof is given by Lyapunov stability theory and finite time stability theory. Zeno behavior does not exist by using the proposed algorithm. Moreover, on the basis of the finite-time consensus algorithm, a finite-time formation control algorithm is designed, which can control a group of agents to track the leader and maintain the formation shape. By utilizing feedback linearization, the model of unmanned aerial vehicle is transformed into an accurate linearization model. Finally, application into unmanned aerial vehicle formation control is given to demonstrate the effectiveness of results.

Original languageEnglish
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
DOIs
StatePublished - 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: 7 Jan 201911 Jan 2019

Publication series

NameAIAA Scitech 2019 Forum

Conference

ConferenceAIAA Scitech Forum, 2019
Country/TerritoryUnited States
CitySan Diego
Period7/01/1911/01/19

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