TY - JOUR
T1 - Specified-Time Affine Formation Maneuver Control of Multiagent Systems Over Directed Networks
AU - Zhao, Yu
AU - Gao, Kai
AU - Huang, Panfeng
AU - Chen, Guanrong
N1 - Publisher Copyright:
© 1963-2012 IEEE.
PY - 2024/3/1
Y1 - 2024/3/1
N2 - In this article, the specified-time affine formation maneuver control (AFMC) problem is studied with a leader-follower structure over a directed communication network. First, by means of Pontraygin's maximum principle and motion-planning techniques, a specified-time AFMC algorithm is designed for the second-integrator systems with dynamic leaders, which can lead the followers to achieve the desired affine formation at a specified settling time according to mission requirements and environmental constraints. Furthermore, the specified-time AFMC problem without velocity measurement is studied. The global convergence and stability of the closed-loop system with proposed control algorithms are analyzed. Compared with the existing finite-time AFMC algorithms, a prominent advantage of the proposed specified-time algorithms is that the convergence moment of AFMC can be accurately scheduled and appointed in advance. Finally, an example is simulated to verify the effectiveness of the proposed algorithms.
AB - In this article, the specified-time affine formation maneuver control (AFMC) problem is studied with a leader-follower structure over a directed communication network. First, by means of Pontraygin's maximum principle and motion-planning techniques, a specified-time AFMC algorithm is designed for the second-integrator systems with dynamic leaders, which can lead the followers to achieve the desired affine formation at a specified settling time according to mission requirements and environmental constraints. Furthermore, the specified-time AFMC problem without velocity measurement is studied. The global convergence and stability of the closed-loop system with proposed control algorithms are analyzed. Compared with the existing finite-time AFMC algorithms, a prominent advantage of the proposed specified-time algorithms is that the convergence moment of AFMC can be accurately scheduled and appointed in advance. Finally, an example is simulated to verify the effectiveness of the proposed algorithms.
KW - Affine formation maneuver
KW - directed graph
KW - motion-planning technique
KW - specified-time control
UR - http://www.scopus.com/inward/record.url?scp=85169692159&partnerID=8YFLogxK
U2 - 10.1109/TAC.2023.3309325
DO - 10.1109/TAC.2023.3309325
M3 - 文章
AN - SCOPUS:85169692159
SN - 0018-9286
VL - 69
SP - 1936
EP - 1943
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 3
ER -