TY - GEN
T1 - Stability analysis of cooperative control for heterogeneous multi-agent systems with nonlinear dynamics
AU - Wang, Bohui
AU - Fang, Xinpeng
AU - Zhao, Yu
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/2
Y1 - 2019/2
N2 - This paper addresses the stability analysis for cooperative control of heterogeneous multi-agent systems with nonlinear dynamics under a directed communication topology. Differently from existing works that focus mainly on the consensus for homogeneous multi-agent systems, a novel view which outside of the cases in the literature is proposed to achieve the complete consensus for the closed-loop heterogeneous multi-agent systems under a leader-follower framework. Specifically, we reveal that the stability analysis for the heterogeneous multi-agent systems cannot be held, if the controller is designed only by the neighbors' interaction information and the state feedback gain. The advancement of the proposed approach was further validated by the applications to the problems of obstacle avoidance and formation flight control for heterogeneous multi-vehicle systems with nonlinear dynamics.
AB - This paper addresses the stability analysis for cooperative control of heterogeneous multi-agent systems with nonlinear dynamics under a directed communication topology. Differently from existing works that focus mainly on the consensus for homogeneous multi-agent systems, a novel view which outside of the cases in the literature is proposed to achieve the complete consensus for the closed-loop heterogeneous multi-agent systems under a leader-follower framework. Specifically, we reveal that the stability analysis for the heterogeneous multi-agent systems cannot be held, if the controller is designed only by the neighbors' interaction information and the state feedback gain. The advancement of the proposed approach was further validated by the applications to the problems of obstacle avoidance and formation flight control for heterogeneous multi-vehicle systems with nonlinear dynamics.
UR - https://www.scopus.com/pages/publications/85069049955
U2 - 10.1109/ICIT.2019.8755066
DO - 10.1109/ICIT.2019.8755066
M3 - 会议稿件
AN - SCOPUS:85069049955
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 1446
EP - 1453
BT - Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
Y2 - 13 February 2019 through 15 February 2019
ER -