Affine formation maneuver control of multi-agent systems with directed interaction graphs

Yang Xu, Shiyu Zhao, Delin Luo, Yancheng You

科研成果: 书/报告/会议事项章节会议稿件同行评审

22 引用 (Scopus)

摘要

The affine formation maneuver control problem of a leader-follower type multi-agent systems with the directed interaction graphs is studied in this paper. This paper firstly gives and proves a sufficient and necessary condition of achieving the affine localizability. Then, under the (d+1) -reachable condition of the given d-dimensional nominal formation with d+1 leaders, a formation of agents can be reshaped in arbitrary dimension by only controlling these leaders. In the sequel, a novel distributed control method for the followers with single-integrator dynamics is proposed to achieve the desired time-varying maneuvers, and the global stability is also proved. Corresponding simulations are carried out to verify the theoretical results, which show that these followers are tracking the time-varying references accurately and continuously.

源语言英语
主期刊名Proceedings of the 37th Chinese Control Conference, CCC 2018
编辑Xin Chen, Qianchuan Zhao
出版商IEEE Computer Society
4563-4568
页数6
ISBN(电子版)9789881563941
DOI
出版状态已出版 - 5 10月 2018
已对外发布
活动37th Chinese Control Conference, CCC 2018 - Wuhan, 中国
期限: 25 7月 201827 7月 2018

出版系列

姓名Chinese Control Conference, CCC
2018-July
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议37th Chinese Control Conference, CCC 2018
国家/地区中国
Wuhan
时期25/07/1827/07/18

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