TY - GEN
T1 - Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs
AU - Xu, Yang
AU - Zhao, Shiyu
AU - Luo, Delin
AU - You, Yancheng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - The affine formation maneuver control problem of leader-follower linear multi-agent systems with undirected interaction graphs is studied in this paper. First, this paper provides and proves the sufficient and necessary conditions for affine localizability. If given a d-dimensional nominal formation with no fewer than d+ 1 leaders and generic universal rigidity, then any formation shape satisfying affine transformation can be obtained in arbitrary dimension only by these leaders. In the sequel, a novel distributed control method for the followers with linear dynamic models is designed to achieve the desired time-varying maneuvers, and the stability is proved. Simulations are carried out to verify the theoretical results, which show that these followers can track the time-varying references continuously and accurately.
AB - The affine formation maneuver control problem of leader-follower linear multi-agent systems with undirected interaction graphs is studied in this paper. First, this paper provides and proves the sufficient and necessary conditions for affine localizability. If given a d-dimensional nominal formation with no fewer than d+ 1 leaders and generic universal rigidity, then any formation shape satisfying affine transformation can be obtained in arbitrary dimension only by these leaders. In the sequel, a novel distributed control method for the followers with linear dynamic models is designed to achieve the desired time-varying maneuvers, and the stability is proved. Simulations are carried out to verify the theoretical results, which show that these followers can track the time-varying references continuously and accurately.
KW - Affine formation control
KW - Linear dynamic model
KW - Multi-agent systems
KW - Stress matrices
KW - Undirected graph
UR - http://www.scopus.com/inward/record.url?scp=85062181635&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8619540
DO - 10.1109/CDC.2018.8619540
M3 - 会议稿件
AN - SCOPUS:85062181635
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 502
EP - 507
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -