Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs

Yang Xu; Shiyu Zhao; Delin Luo; Yancheng You

doi:10.1109/CDC.2018.8619540

Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs

Yang Xu, Shiyu Zhao, Delin Luo, Yancheng You

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

14 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2018 IEEE Conference on Decision and Control, CDC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	502-507
Number of pages	6
ISBN (Electronic)	9781538613955
DOIs	https://doi.org/10.1109/CDC.2018.8619540
State	Published - 2 Jul 2018
Externally published	Yes
Event	57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States Duration: 17 Dec 2018 → 19 Dec 2018

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2018-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	57th IEEE Conference on Decision and Control, CDC 2018
Country/Territory	United States
City	Miami
Period	17/12/18 → 19/12/18

Keywords

Affine formation control
Linear dynamic model
Multi-agent systems
Stress matrices
Undirected graph

Access to Document

10.1109/CDC.2018.8619540

Cite this

Xu, Y., Zhao, S., Luo, D., & You, Y. (2018). Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 502-507). Article 8619540 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8619540

@inproceedings{198f7b50fe584e7c99f8c0f63f130c87,

title = "Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs",

abstract = "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.",

keywords = "Affine formation control, Linear dynamic model, Multi-agent systems, Stress matrices, Undirected graph",

author = "Yang Xu and Shiyu Zhao and Delin Luo and Yancheng You",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 57th IEEE Conference on Decision and Control, CDC 2018 ; Conference date: 17-12-2018 Through 19-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/CDC.2018.8619540",

language = "英语",

series = "Proceedings of the IEEE Conference on Decision and Control",

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

pages = "502--507",

booktitle = "2018 IEEE Conference on Decision and Control, CDC 2018",

}

Xu, Y, Zhao, S, Luo, D & You, Y 2018, Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs. in 2018 IEEE Conference on Decision and Control, CDC 2018., 8619540, Proceedings of the IEEE Conference on Decision and Control, vol. 2018-December, Institute of Electrical and Electronics Engineers Inc., pp. 502-507, 57th IEEE Conference on Decision and Control, CDC 2018, Miami, United States, 17/12/18. https://doi.org/10.1109/CDC.2018.8619540

Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs. / Xu, Yang; Zhao, Shiyu; Luo, Delin et al.
2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 502-507 8619540 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December).

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

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

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 -

Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this